[WIP] Solve ambiguities in interpolations - Githubissues

dfki-ric / pytransform3d

3D transformations for Python.

https://dfki-ric.github.io/pytransform3d/

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[WIP] Solve ambiguities in interpolations #185

Closed AlexanderFabisch closed 2 years ago

AlexanderFabisch commented 2 years ago

Fixes #122

Add pytransform3d.rotations.pick_closest_quaternion
Add pytransform3d.batch_rotations.smooth_quaternion_trajectory
Add pytransform3d.trajectories.mirror_screw_axis_direction
Add optional parameter shortest_path to indicate that sign ambiguity should be resolved in quaternion_slerp_batch, quaternion_slerp, and rotor_slerp
Document slerp_weights and correct type hints

TODO

[x] quaternion slerp
[x] dual quaternion slerp -> seems to be not an issue
[x] batch quaternion slerp
[x] trajectory correction for quaternions
[x] trajectory correction for exponential coordinates