Add slerp and override getattr method #7
Merged
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This PR introduces the slerp method.
See the example
slerp_so3
to check how it works.Also, I introduced a small modification that would allow passing directly
Quaternion
objects to casadi methods without accessing the quaternion coefficients with.coeffs()
:This modification should give to the Quaternion class methods from the underlying type that is used to build a Quaternion instance.
For example, before:
Now:
This modification shouldn't break the previous code since the
.coeffs()
method is still accessible.A lot of doc is still missing! I'll add it in a different PR.