Changed the order of multiplication when calculating quaternion based… #15
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… vel and acc This is done since the velocity and acceleration is given in the body-local reference frame.
This adds test for * For conversion between spline state and cartesian state * Interpolation of orientation
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Added test to cover the changes. I don't know why the format check is complaining... |
...tory_interpolation/include/cartesian_trajectory_interpolation/cartesian_trajectory_segment.h
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… vel and acc
This is done since the velocity and acceleration is given in the body-local reference frame.
The math supporting this change, can be found here.
I will try to think about a test, that could cover these changes.