Fix trlog exceptional condition #63
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For the rotation part of trlog, the iseye condition does not catch all conditions where the rotation value is near-zero. I actually got divided-by-zero exception in the general case part while doing some simulation. There are many ways to avoid divided-by-zero exception when we calculate skw = ... / math.sin(theta). But, I recommend you to fix iseye routine. Instead of iseye routine, we can simply check if trace(R) = 1 + 2cos(theta=0) = 3
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thanks for this, it's elegant to use the trace twice. Can you give me the numeric example where On the Perhaps there should be a test on |
VascoSch92
reviewed
Jan 30, 2024
| @@ -1221,13 +1221,14 @@ def trlog(T, check=True, twist=False, tol=10): | |||
| elif isrot(T, check=check): | |||
| # deal with rotation matrix | |||
| R = T | |||
| if smb.iseye(R): | |||
| trace_R = np.trace(R) | |||
| if abs(trace_R - 3) < tol * _eps: | |||
| # matrix is identity | |||
| if twist: | |||
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nit: write
return np.zeros((3,)) if twist else np.zeros((3, 3)it is much simpler to read and less lines
sorry has nothing to do with the PR :-)
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For the rotation part of trlog, the iseye condition does not catch all conditions where the rotation value is near-zero. I actually got divided-by-zero exception in the general case part while doing some simulation.
There are many ways to avoid divided-by-zero exception when we calculate skw = ... / math.sin(theta). But, I recommend you to fix iseye routine.
Instead of iseye routine, we can simply check if trace(R) = 1 + 2cos(theta=0) = 3