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Look at exponential maps for rotation error #30

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gkjohnson opened this issue Oct 16, 2020 · 2 comments
Open

Look at exponential maps for rotation error #30

gkjohnson opened this issue Oct 16, 2020 · 2 comments
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enhancement New feature or request
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v0.0.5

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gkjohnson commented Oct 16, 2020 •
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See Appendix B:

https://www2.ccs.neu.edu/research/gpc/publications/Vona__2009__Virtual_Articulation_and_Kinematic_Abstraction_in_Robotics.pdf
@gkjohnson gkjohnson added the enhancement New feature or request label Oct 16, 2020
@gkjohnson gkjohnson added this to the v0.0.x milestone Dec 28, 2020
@gkjohnson gkjohnson mentioned this issue Dec 29, 2020
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http://www.cs.cmu.edu/~spiff/moedit99/expmap.pdf

@gkjohnson gkjohnson modified the milestones: v0.0.x, v0.0.3 Dec 31, 2020
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Exponential maps could be used for representing closure error instead of quaternions in the matrices which would cut down on the amount of rows needed for error by 1.

@gkjohnson gkjohnson modified the milestones: v0.0.3, v0.0.4, v0.0.x Jan 1, 2021
@gkjohnson gkjohnson modified the milestones: v0.0.x, v0.0.4 Jan 16, 2021
@gkjohnson gkjohnson modified the milestones: v0.0.4, v0.0.5 Nov 21, 2022
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