Prashanth Ramadoss

Related python library from the ROS discourse https://github.com/Achllle/dual_quaternions This could be really interesting. I am looking forward to this feature.

We could follow these steps from the "outside", - change fixed frame, - get transform - modify z-component of position - init odometry with the reference frame and the modified...

To be part of the library, we can add an option that assumes flat terrain and allows us to use the method described by @GiulioRomualdi > Yes, exactly and the...

@S-Dafarra had already ported a function to iDynTree to compute the geodesic distance between two rotations. https://github.com/robotology/idyntree/blob/e52d72a6fb3c0872bd9bcf830325776caf909db5/src/core/src/SO3Utils.cpp#L29 It implements `(R1^(-1) * R2).log()`. Calling something similar for iDynTree Transforms object should...

Here's the pdf, just in case if someone wants a quick link, [romano_ik.pdf](https://github.com/robotology/idyntree/files/6250277/romano_ik.pdf) P.S. The date got updated to April 2 2021, but it's a relatively old document.

In my opinion, using local `Eigen::Map` objects is more convincing than using `using iDynTree::toEigen` directives, because the former makes the underlying math in the statements obvious to the reader. This...

cc @fjandrad

I also noticed inconsistent results when converting iDynTree Rotations directly to Eigen Quaternions using the asQuaternion() method. Considering `iDynRotation` as a random `iDynTree::Rotation` object. I used to do ``` cpp...

Any knowledge update regarding handling `std::vector` of generic objects? Thanks in advance!

I was trying to handle a vector of rotations like `std::vector`, so I created a template in `iDynTree.i` as `%template(RotationVector) std::vector;` and this enables the use of standard `std::vector` methods...