Commit 539a5a8d authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

operator == in SO3 : compare rotation matrix instead of quaternions

parent d7646532
......@@ -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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