From 183092e944caaffae6ec70d50b47cb832811f2b9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?J=C3=A9r=C3=A9my=20Maceiras?= <jeremy.maceiras@idiap.ch>
Date: Tue, 5 Nov 2024 10:58:09 +0100
Subject: [PATCH] chore: added comments

---
 python/iLQR_manipulator3D.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/python/iLQR_manipulator3D.py b/python/iLQR_manipulator3D.py
index 899ccca..ed5362d 100644
--- a/python/iLQR_manipulator3D.py
+++ b/python/iLQR_manipulator3D.py
@@ -122,6 +122,7 @@ def R2q(R):
 	]) / 3.0
 
 	e_val, e_vec = np.linalg.eig(K)
+	# /!\ With numpy eigenvalues are not sorted!
 	q = np.real([e_vec[3, np.argmax(e_val)], *e_vec[0:3, np.argmax(e_val)]]) # for quaternions as [w,x,y,z]
 	return q
 
-- 
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