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humanoid-path-planner / hpp-constraints

Definition of basic geometric constraints for motion planning
BSD 2-Clause "Simplified" License
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Fix wrong asserts and tests. #175

Closed florent-lamiraux closed 1 year ago

florent-lamiraux commented 1 year ago

Normalization check was wrong for GenericTransformation that provided as output a member of SO3. In tests/solver-by-substitution.cc, random configurations where generated using setRandom method that does not take into account quaternion normalization.

This should fix https://github.com/humanoid-path-planner/hpp-constraints/issues/174.