Skip to content
Snippets Groups Projects
Commit 183092e9 authored by Jérémy MACEIRAS's avatar Jérémy MACEIRAS
Browse files

chore: added comments

parent 02ffe1df
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
python/iLQR_manipulator3D.py
+ 1
− 0
View file @ 183092e9
...@@ -122,6 +122,7 @@ def R2q(R): ...@@ -122,6 +122,7 @@ def R2q(R):
]) / 3.0 ]) / 3.0
e_val, e_vec = np.linalg.eig(K) 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] 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 return q
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment