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robotology / react-control

Framework for reaching with whole-body obstacle avoidance.
GNU General Public License v2.0
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Fixed integration of rotation velocity #17

Closed pattacini closed 7 years ago

pattacini commented 7 years ago

This PR fixes the integration of orientation velocity implementing changes in https://github.com/robotology/icub-main/commit/a77bdbc529658132e34c0b9fe0858b6959700e73.

cc @towardthesea @matejhof @alecive

alecive commented 7 years ago

:+1: The new code makes much more sense to me! Cc @brahmgardner

pattacini commented 7 years ago

This fix may appear simpler and more reasonable but hides some complication related to the exponential matrix 😉

For future reference: http://math.stackexchange.com/a/2176586

alecive commented 7 years ago

We might port it to quaternion notation (to be more ROS-friendly) if it is going to be easier there :sunglasses: