Screw Linear Interpolation - Githubissues

Achllle / dual_quaternions_ros

Dual Quaternion conversions from/to ROS messages

MIT License

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Screw Linear Interpolation #8

Closed Achllle closed 4 years ago

Achllle commented 5 years ago

Description

Add ScLERP, an interpolation method with constant velocity in terms of screw parameters
don't normalize on init anymore! Instead provide a flag to force normalization if desired
some minor changes
- delete skew() method
- fix naming in tests, replace == with assertEqual()

TODO

[x] test for exp, log, pow, rmul Not doing exp and log now. Added test for pow, not for rmul since trivial.
[x] ScLERP has the property that it maintains constant velocity of screw parameters. Add a test that checks this
[x] pretty visualization in README

Achllle commented 5 years ago

Might want to do this through the screw formulation. https://www.mvtec.com/doc/halcon/13/en/toc_transformations_dualquaternions.html