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Guilhem Saurel
ndcurves
Commits
539a5a8d
Commit
539a5a8d
authored
Dec 05, 2019
by
Pierre Fernbach
Browse files
operator == in SO3 : compare rotation matrix instead of quaternions
parent
d7646532
Changes
1
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Side-by-side
include/curves/so3_linear.h
View file @
539a5a8d
...
...
@@ -122,8 +122,8 @@ struct SO3Linear : public curve_abc<Time, Numeric, Safe, Eigen::Matrix<Numeric,
return
T_min_
==
other
.
min
()
&&
T_max_
==
other
.
max
()
&&
dim_
==
other
.
dim
()
&&
init_rot_
.
isApprox
(
other
.
init_rot_
,
prec
)
&&
end_rot_
.
isApprox
(
other
.
end_rot_
,
prec
);
&&
init_rot_
.
toRotationMatrix
().
isApprox
(
other
.
init_rot_
.
toRotationMatrix
()
,
prec
)
&&
end_rot_
.
toRotationMatrix
().
isApprox
(
other
.
end_rot_
.
toRotationMatrix
()
,
prec
);
}
virtual
bool
operator
==
(
const
SO3Linear_t
&
other
)
const
{
...
...
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