Update quaternionDerivative.m

robotology · Dec 25, 2018 · 3d0c7d3 · 3d0c7d3 · traversaro · Dec 25, 2018
1 parent 1c32da2
commit 3d0c7d3
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/library/matlab-wbc/+wbc/quaternionDerivative.m b/library/matlab-wbc/+wbc/quaternionDerivative.m
@@ -20,6 +20,7 @@
 
     %% --- Initialization ---
 
+    % TO BE VERIFIED: the expected angular velocity is in BODY frame, i.e. b_omega_b
     qtDot = 0.5 *[0      -transpose(omega); ...
                   omega  -wbc.skew(omega)]*qt +k*(1 -transpose(qt)*qt)*qt;  
 end