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Humanoid Path Planner
hpp-rbprm-corba
Commits
3877a6ea
Commit
3877a6ea
authored
Jun 05, 2020
by
Pierre Fernbach
Browse files
[Tools] surface_from_path: fix computation of angle difference
parent
58c0e1a9
Changes
1
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src/hpp/corbaserver/rbprm/tools/surfaces_from_path.py
View file @
3877a6ea
...
...
@@ -96,7 +96,7 @@ def getMergedPhases(seqs):
def
computeRootYawAngleBetwwenConfigs
(
q0
,
q1
):
quat0
=
Quaternion
(
q0
[
6
],
q0
[
3
],
q0
[
4
],
q0
[
5
])
quat1
=
Quaternion
(
q1
[
6
],
q1
[
3
],
q1
[
4
],
q1
[
5
])
v_angular
=
np
.
array
(
log3
(
quat0
.
matrix
().
dot
(
quat1
.
matrix
())))
v_angular
=
np
.
array
(
log3
(
quat0
.
matrix
().
T
.
dot
(
quat1
.
matrix
())))
#print ("q_prev : ",q0)
#print ("q : ",q1)
#print ("v_angular = ",v_angular)
...
...
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