ihmcrobotics / euclid-core Goto Github PK

Not possible to interpolate without creating local Point and Quaternion.

The method should be renamed for something like:

• normalizeAndLimitToPi
• normalizeAndLimitToMinusPlusPi
• normalizeAndLimitToMinusPiPlusPi

instead of RotationMatrix

From Quarternion32.java

 * This version of quaternion uses **double** precision fields to save the value of each component. It
 * is meant for garbage free usage and for situations where heap memory is limited. When memory is
 * not a constraint, the use of {@link **Vector2D32**} is preferable.

This should be straightforward as RotationMatrix already implement interpolate.

The methods prepend(Yaw/Pitch/Roll)Rotation for transforms is error prone as it only prepend the rotation to the rotation part of the transform and does not rotate the translation part as the user would expect it to do.

It should include the following:

• prepend(Yaw/Pitch/Roll)Rotation
• appendTranslation, prependTranslation
• getTranslation(X/Y/Z)

maybe also getX, Y, Z, and S

Add setTranslate(X/Y/Z)

set(int index, double value) is renamed to setElement(int index, double value)
Same the getter.