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robotology-legacy / mex-wholebodymodel

Matlab MEX interface to the iWholeBodyModel interface.
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Document from where the formula in quaternionDerivative comes from #59

Closed traversaro closed 9 years ago

traversaro commented 9 years ago

@DanielePucci I searched it (quickly) in https://www-sop.inria.fr/act_recherche/formulaire/uploads/phd-425.pdf but I could not find it.

DanielePucci commented 9 years ago

Page 101.

traversaro commented 9 years ago

Fixed in https://github.com/robotology/mex-wholebodymodel/commit/bab1cf2219c74b9fd22cf380470e33866336d832 .