Remove quaternion algebra from LeggedBody
Closed this issue · 1 comments
Akshay5312 commented
It looks like quaternion operations were added to LeggedBody in commit b5027ff . This isn't ideal, we should look at removing it.
While it makes sense that it's needed for fint, maybe we do an anonymous function or move it into galileo/math
echandler5956f commented
Completely agree, I'll open a branch.