Bug fix in quaterion::normalize and quaternion::log3 #2056
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modu-robotics
commented
Sep 16, 2023
| Eigen::Matrix<double, 3, 4> jac_expected; | ||
| jac_expected << 2, 0, 0, 0, | ||
| 0, 2, 0, 0, | ||
| 0, 0, 2, 0; |
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Comparing with hand derived analytic solution. Not sure if it is too trivial, but this was the failure before this PR. Jacobian value at zero quaternion was [I, 0] instead of [2*I, 0]
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Related to #2050, this PR fixes a bug in
quaternion::normalizeandquaternion::log3methods.