I am putting a score into Lilypond, and I can’t figure out how to replicate the tied notes in the screenshot below. I am using the command \change Staff = “bass” to move notes to the bass clef, but I am not sure how to keep the cross staff beaming and create ties to the quarter note.

Is there a different way I could create the cross staff beaming, as then I could insert the notes normally in the appropriate clef and add ties?

It's possible to use tieWaitForNote if you make sure the notes are in the right Voice contexts:

\version "2.19.82"

\new PianoStaff <<
  \new Staff = "treble" \relative c' {
    s1
  }
  \new Staff = "bass" \relative c {
    \clef bass
    \set tieWaitForNote = ##t
    c8[~ \change Staff = "treble" <b' d g>] \change Staff = "bass"
    c,4
  }
>>

In your example, this is going to be a bit more involved, since you need ties in both hands simultaneously (to be precise, the beamed eights are going to be in one voice, but the tie-destinations in both hands are going to be in two different voices).

You might have to resort to invisible notes in one of the systems.

Lukas


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