upadte Matrix6Log

somehow, in certain cases, I was unable to generate a trajectory without getting an error that the operator / can't work between list (omgmat) and float... so changing that fixed it for me.
2018-12-07 23:12:35 -05:00 · 2018-12-07 23:12:35 -05:00 · b5525b0f4e
parent 174a89066c
commit b5525b0f4e
1 changed files with 1 additions and 1 deletions
--- a/packages/Python/modern_robotics/core.py
+++ b/packages/Python/modern_robotics/core.py
@ -401,7 +401,7 @@ def MatrixLog6(T):
        elif acosinput < -1:
            acosinput = -1
        theta = np.arccos(acosinput)
-        omgmat = MatrixLog3(R)
+        omgmat = np.array(MatrixLog3(R), dtype=np.float64)
        return np.r_[np.c_[omgmat,
                           np.dot(np.eye(3) - omgmat / 2.0 \
                           + (1.0 / theta - 1.0 / np.tan(theta / 2.0) / 2) \