ros nav_msgs::Odometry获取四元数与平移,eigen类型的变量

现在我有一个const nav_msgs::Odometry::ConstPtr laserOdometry类型的指针,我想获取它的四元数与平移,并赋值给Eigen::Quaterniond,Eigen::Vector3d

Eigen::Quaterniond bef_relo_r(1,0,0,0);
Eigen::Vector3d bef_relo_t(0,0,0);
//...
bef_relo_r.w() = laserOdometry->pose.pose.orientation.w;
bef_relo_r.x() = laserOdometry->pose.pose.orientation.x;
bef_relo_r.y() = laserOdometry->pose.pose.orientation.y;
bef_relo_r.z() = laserOdometry->pose.pose.orientation.z;
bef_relo_t<<laserOdometry->pose.pose.position.x, laserOdometry->pose.pose.position.y, laserOdometry->pose.pose.position.z;