Previously, we assumed that the user specifies a perfect quaternion for any floating bases in q_init. Now this need not be the case: quaternions in the initial condition are normalized, just as we do for quaternions in the reference and initial guess.
Previously, we assumed that the user specifies a perfect quaternion for any floating bases in
q_init. Now this need not be the case: quaternions in the initial condition are normalized, just as we do for quaternions in the reference and initial guess.This change is