Protect quat to euler conversion for NaN #2580
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If the quaternion is slightly off around +-90 degrees pitch, the result might be a NaN if the asin is computed. Added bounds to make sure this can never happen. The argument should not be outside [-1,1] anyway.
gautierhattenberger
approved these changes
Sep 14, 2020
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If the state quaternion is slightly off around +-90 degrees pitch, the result
might be a NaN if the asin is computed. I added bounds to make sure this
can never happen. The argument should not be outside [-1,1] anyway.