Besides cleaning files in example/flippy here are the major changes in the main code --- in RobotManipulator.m
1) Added a new function called ComputeRelativeRigidOrientation. This gives a rotation matrix relative to a specified reference frame 'R'. This function can be used instead of ComputeRelativeEulerAngles.
2) Modified the function ToRelativeEulerAngle. This is to address #13 which computes the Euler angles wrongly for certain orientations.
NOTE: This is not fixed in the function ToEulerAngle.
Feel free to make changes to ToEulerAngle after verifying the fix.
Besides cleaning files in example/flippy here are the major changes in the main code --- in RobotManipulator.m
1) Added a new function called ComputeRelativeRigidOrientation. This gives a rotation matrix relative to a specified reference frame 'R'. This function can be used instead of ComputeRelativeEulerAngles.
2) Modified the function ToRelativeEulerAngle. This is to address #13 which computes the Euler angles wrongly for certain orientations. NOTE: This is not fixed in the function ToEulerAngle.
Feel free to make changes to ToEulerAngle after verifying the fix.