Inconsistency in switching from setting world-reference link to setting world-reference-frame

robotology-legacy / mex-wholebodymodel

Matlab MEX interface to the iWholeBodyModel interface.

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Inconsistency in switching from setting world-reference link to setting world-reference-frame #25

Closed naveenoid closed 9 years ago

naveenoid commented 9 years ago

When switching from a world reference link (like "l_sole") for example to world reference frame (computed from get state), the quaternion returned after that point on is not a valid quaternion.

naveenoid commented 9 years ago

fixed in 1c653164818988d7da857689be1f737777aedf44