[SLERP] Return the first quaternion when the two quaternion are equal

ami-iit / liecasadi

Rigid transform using Lie groups and Dual Quaternions, written in CasADi!

BSD 3-Clause "New" or "Revised" License

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[SLERP] Return the first quaternion when the two quaternion are equal #13

Closed Giulero closed 9 months ago

Giulero commented 9 months ago

This PR fixes #12. Now the the slerp_step method returns the quaternion q1 when interpolating between q1 and q2 if these two quaternions are equal (or approximately equal).

Giulero commented 9 months ago

Thanks @S-Dafarra !