Commit 9a4cae6e authored by Luc Maisonobe's avatar Luc Maisonobe

Improved documentation on quaternion interpolation.

parent 47b2cf0e
......@@ -228,7 +228,10 @@ public class TimeStampedAngularCoordinates extends AngularCoordinates implements
* href="http://www.ladispe.polito.it/corsi/Meccatronica/02JHCOR/2011-12/Slides/Shuster_Pub_1993h_J_Repsurv_scan.pdf">A
* Survey of Attitude Representations</a>. This change avoids the singularity at π.
* There is still a singularity at 2π, which is handled by slightly offsetting all rotations
* when this singularity is detected.
* when this singularity is detected. Another change is that the mean linear motion
* is first removed before interpolation and added back after interpolation. This allows
* to use interpolation even when the sample covers much more than one turn and even
* when sample points are separated by more than one turn.
* </p>
* <p>
* Note that even if first and second time derivatives (rotation rates and acceleration)
......
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