Use iDynTree::InverseKinematicsRotationParametrizationRollPitchYaw as default parametrization in iDynTree::InverseKinematics

robotology / idyntree

Multibody Dynamics Library designed for Free Floating Robots

BSD 3-Clause "New" or "Revised" License

156 stars 65 forks source link

Use iDynTree::InverseKinematicsRotationParametrizationRollPitchYaw as default parametrization in iDynTree::InverseKinematics #1058

Closed traversaro closed 1 year ago

traversaro commented 1 year ago

Fix https://github.com/robotology/idyntree/issues/514 . The iDynTree::InverseKinematicsRotationParametrizationQuaternion has some well known bug, so it make sense not to use it by default, and clearly document this.