DQ addition isn't correct

Achllle / dual_quaternions_ros

Dual Quaternion conversions from/to ROS messages

MIT License

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DQ addition isn't correct #13

Closed Achllle closed 5 years ago

Achllle commented 5 years ago

Currently it is assumed that the dual quaternion doesn't have a rotation and the unit quaternion is returned for the rotation part. Instead, the quaternions should simply be added:

dq1 + dq2 = (dqr1 + dqr2) + e(dqd1 + dqd2)