c++,opengl,animation,kinematics,inverse-kinematics

Hate to keep answering my own questions, but I had been working on this harder than on anything else so far. The problems were at two places: Instead of calling the .inverse() on the J * J.transpose() I used fullPivLu().solve(deltaP) on the J * J.transpose(). (I had overlooked the fact...

linear-algebra,quaternions,ros,inverse-kinematics

Isn't this just as simple as exchanging the order of the factors in the quaternion product? A unit quaternion q transforms a vector v in local coordinates to the rotated vector q*v*q' in global coordinates. A modified quaternion a*q*b (a, b also unit quaternions) transforms v as a*(q*(b*v*b')*q')*a', where the...