sonar_slam代码阅读记录

一、return gtsam.Rot3.Quaternion(w, x, y, z) 函数

 Vector Rot3::quaternion() const {
  232   gtsam::Quaternion q = toQuaternion();
  233   Vector v(4);
  234   v(0) = q.w();
  235   v(1) = q.x();
  236   v(2) = q.y();
  237   v(3) = q.z();
  238   return v;
  239 }