use minus from rotations.h to compute error in ConstraintQuaternionAbsolute::operator ()
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mentioned in issue #147 (closed)
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In my opinion, as first option, in line 68 it is clearer to write:
er = log_q( q2.cast<T> * q1.conjugate() ); // This is a minus operation in global frame
than to twist the code with unclear shortcuts.
Otherwise, we could define
plus_left()
,plus_right()
,minus_left()
andminus_right()
, as we definedJac_SO3_left()
andJac_SO3_right()
inrotations.h
. But I would go for the first option.Edited by Joan Solà Ortega -
OK then let's use
log_q( q2.cast<T>() * q1.conjugate() )
as temporary fix and define new functions inrotations.h
if really needed in other places.Edited by Dinesh Atchuthan
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