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License: GNU General Public License v3.0
Auxiliary Kinematics/Dynamics Components for CoSimA
License: GNU General Public License v3.0
Please use the official rstrt Rotation type in the forward-kinematics component.
https://github.com/corlab/rst-rt/blob/master/src/rst-rt/geometry/Rotation.hpp
In forward-kinematics.cpp lines 103-105 we use the getter-function for axis angles for sending three orientation-values via the port. This is confusing. The KDL-Rotation type provides all kind of rotation representations: rotation matrix, different euler-angle decompositions, axis-angles, quaternion. In general, one can also use getQuaternion(), getEulerZYX(), ....
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