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This compiles:

#include <tf/transform_datatypes.h>

tf::Quaternion a, b, c;
c = b * a.inverse();

I assume it will do what you're asking for, but you should double-check that.

Try using tf::Quaterion. You need to include the following line in the manifest.xml file of your pacakge:

<depend package="tf"/>

This compiles:should compile:

#include <tf/transform_datatypes.h>

tf::Quaternion a, b, c;
c = b * a.inverse();

I assume it will do what you're asking for, but you should double-check that.