Constraint abs
Adding constraint for P/V (constraint_block_absolute : db1debc2 ) and O (constraint_quaternion_absolute : 94928397)
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 OrtegaOK 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
assigned to @jsola
mentioned in commit d06ec8d7
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