dual_quaternions_ros

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Currently [CI only hits kinetic](https://github.com/Achllle/dual_quaternions_ros/blob/a6351318e3daeb08d925b201950e32a1434e06fc/.travis.yml#L4)

mjsobrep

Run CI in python3 as well

2

Run `dual_quaternions` tests with Python3 in Travis CI. This requires a few modifications: 1. In `setup.py`, `from distutils.core import setup` --> `from setuptools import setup` although [this old article says...

Achllle

See https://docs.readthedocs.io/en/stable/intro/getting-started-with-sphinx.html

Achllle

Simple and fast interpolation, generalization of QLB (quaternion linear blending). While ScLERP has the nice properties of constant speed, coordinate system invariance, and is shortest path, DLB is only coordinate...

Achllle

Tests only test a few random dqs. Extend coverage by testing edge cases and so on

Achllle

The norm of a dual quaternion is |q| = sqrt(qq*). Currently the normalized rotation is used. Should make this clear and have a separate `norm()` method

Achllle

See [this paper](http://campar.in.tum.de/pub/tbirdal20183dv/tbirdal20183dv.pdf) on SPLIT, SE3UP, SCLERP, DLB

Achllle

The logarithmic and exponential mapping are useful for several algorithms and allow mapping to and from vector spaces. See math: https://www.sciencedirect.com/science/article/pii/S0022247X12000327 or: http://www.roboticsproceedings.org/rss08/p04.pdf

Achllle