ctrlutils.lookat_error¶
- ctrlutils.lookat_error(vec: numpy.ndarray[numpy.float64[3, 1]], vec_des: numpy.ndarray[numpy.float64[3, 1]]) numpy.ndarray[numpy.float64[3, 1]]¶
Computes the orientation error between two lookat vectors.
Unlike ctrlutils.orientation_error(), this error ignores rotations about the lookat vectors, producing the shortest rotation between the two.
- Parameters
quat – Current orientation.
quat_des – Desired orientation.
- Returns
Quaternion error.
See also