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robotology / whole-body-controllers

Simulink-based whole body controllers for humanoid robots.
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Error in the computation of quaternion using `fromTransfMatrixToPosQuat` #111

Open FabioBergonti opened 3 years ago

FabioBergonti commented 3 years ago

Given the homogenous matrix:

H =

    1.0000         0         0         0
         0   -0.7071   -0.7071         0
         0    0.7071   -0.7071         0
         0         0         0    1.0000

The quaternion computed using the function fromTransfMatrixToPosQuat is wrong, i.e. the norm is different from 1

fromTransfMatrixToPosQuat(R) =

         0         0         0         0    0.9239         0         0

The output produced by the matlab function rotm2quat is:

rotm2quat(H(1:3,1:3))

    0.3827    0.9239         0         0
gabrielenava commented 7 months ago

hello @FabioBergonti, is this bug still there or we can close the issue?

FabioBergonti commented 7 months ago

hello @FabioBergonti, is this bug still there or we can close the issue?

It's still there