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Solving quaternions does not preserve normalization #48

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liquidcronos opened this issue Sep 8, 2021 · 1 comment

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bug

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liquidcronos commented Sep 8, 2021

While the library supports quaternions the solver currently does not constrain the quaternions so that they are normalized!

This can be fixed by defining an inate joint limit after implementing #20

liquidcronos added the bug label

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liquidcronos commented Sep 8, 2021

In the mean time, the inverse kinematics solver should throw an error if it encounters quaternions

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