Antoine Hoarau

@pantor This is indeed a nice feature. Are you planning to integrate it upstream ?

@Fubini2 maybe a PR then ?

Yup I tried that first, but I failed to extract the interesting variables, like `iDynTree::idyntree-high-level` for instance. + When you export your project (that uses idyntree), it returns an error...

> I think this make sense, but we need probably to be added as a option in InstallBasicPackageFiles.cmake at YCM level, because I am bit afraid there could be projects...

Possible implementation : ```c++ Eigen::Vector3d diff(const iDynTree::Rotation& R_a_b1, const iDynTree::Rotation& R_a_b2) { typedef Eigen::Matrix Matrix3dRowMajor; iDynTree::Rotation R_b1_b2 = R_a_b1.inverse() * R_a_b2; Eigen::AngleAxisd aa(Eigen::Map(R_b1_b2.data())); return toEigen(R_a_b1) * aa.angle() * aa.axis(); }...

A bit better, in pure Eigen : ```c++ Eigen::Vector3d diffRot(const Eigen::Matrix3d& R_a_b1, const Eigen::Matrix3d& R_a_b2) { Eigen::Matrix3d R_b1_b2 = R_a_b1.transpose() * R_a_b2; Eigen::AngleAxisd aa(Eigen::Map(R_b1_b2.data())); return R_a_b1 * aa.angle() * aa.axis();...

@traversaro gentle ping on this one

So.. can we add one of these functions ?

Hello all ! Any news on that ?

Was the plan to add a collision checking library , or just visualisation ?