Closed Giulero closed 1 year ago
Thanks @FabioBergonti !
@Giulero sorry for the late feedback, it looks good to me. Is there any reason why you removed the quaternion product method? I don't think I'm using it, but it might be useful to others.
Is there any reason why you removed the quaternion product method? I don't think I'm using it, but it might be useful to others.
Actually, it was an old duplicate in SO3 class. The quaternion product is in the Quaternion class :)
Is there any reason why you removed the quaternion product method? I don't think I'm using it, but it might be useful to others.
Actually, it was an old duplicate in SO3 class. The quaternion product is in the Quaternion class :)
Ow ok it makes sense! Thanks for the detail :wink:
This PR introduces the slerp method. See the example
slerp_so3
to check how it works.Also, I introduced a small modification that would allow passing directly
Quaternion
objects to casadi methods without accessing the quaternion coefficients with.coeffs()
:This modification should give to the Quaternion class methods from the underlying type that is used to build a Quaternion instance.
For example, before:
Now:
This modification shouldn't break the previous code since the
.coeffs()
method is still accessible.A lot of doc is still missing! I'll add it in a different PR.