LouKordos / walking_controller

The main walking controller code for the Bipedal Robot.
14 stars 3 forks source link

Use quaternions where possible to avoid Gimbal Lock #62

Open LouKordos opened 3 years ago

LouKordos commented 3 years ago

Implement something like a Pose3D or Orientation3D class that contains functions for accessing the quaternions as Euler Angles for readability and the quaternions themselves. Then use those class instances where possible.

An issue with that would be how to actually use these values properly in the Matrix calculations etc.