[Rock-dev] Convention Question: Orientations

[Matthias Goldhoorn]

I'm not sure and couldn't find anything to this in the 
http://rock.opendfki.de/wiki/WikiStart/Standards RG1

Does an Quaternion give the Transformation World2Robot or Robot2World by 
default.

Details:
If we wrote an component that assumes an RBS-Orientation q as input.
Our Systems want to calculate an world position 1 meter in the front: 
assume v1(1,0,0)
Is then q*v1 the "world" relative position or q.inverse()*v1?

Matthias
P.S. i know there a ways to transform, but for clearness we should be 
default do it the same way.

-- 
  Dipl.-Inf. Matthias Goldhoorn
  Space and Underwater Robotic

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
  Robert-Hooke-Straße 5
  28359 Bremen, Germany

  Tel.:     +49 421 178 45-4193
  Zentrale: +49 421 178 45-6550
  Fax:      +49 421 178 45-4150
  E-Mail:   matthias.goldhoorn at uni-bremen.de

  Weitere Informationen: http://www.informatik.uni-bremen.de/robotik