Silvio Traversaro

The derivative problem for quaternion is unfortunately a known issue, see https://github.com/robotology/idyntree/issues/282#issue-220883630, but indeed: * it is poorly documented * the default choice should definitely be a working one, not...

cc @singhbal-baljinder @robotology/iit-dynamic-interaction-control

Apparently an algorithm similar to the one published in [Numerical Methods to Compute the CoriolisMatrix and Christoffel Symbols for Rigid-BodySystems](https://arxiv.org/pdf/2010.01033.pdf). was added in Pinocchio 3 years ago in https://github.com/stack-of-tasks/pinocchio/commit/69ccceac97ebd34722723d3c753d359783e33c93, but...

> Oh, amazing, we had the same thoughts. I don't have any reference, but I may write a technical note if you want. Thanks @jcarpent for the quick reply! Don't...

Sure, let's schedule it when you prefer using the Teams' scheduling helper.

See also : https://github.com/robotology/idyntree/pull/246#discussion_r88617972 .

Apparently `SWIG 3.*` handles it correctly (i.e. it does not crash), while SWIG 2.0 has problems.

Hi @necil, what is the precise error that you are getting? It is related to `[[deprecated]]`?

Just to clarify: you are discussing about a separate C++ project on which you run SWIG, not about iDynTree, right?

> I have 2 questions: First one do you suggest a way to see more detailed log from this error? and and second one should I add a directive on...