[RTR] eulerDot - body velocity tranformation

[EveCharbie]

issue : Verify conversion from rotation matrix to euler angles #165

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This change is 

[EveCharbie]

@pariterre I am not done yet, but I need help with how to write this :
Matrix3d velocity_matrix = velocityMatrix(euler, seq).colPivHouseholderQr();

[pariterre]

Reviewed 2 of 2 files at r1, all commit messages.
Reviewable status: all files reviewed, 4 unresolved discussions (waiting on @EveCharbie)

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include/Utils/Quaternion.h, line 6 at r1 (raw file):

#include <memory>
#include "Utils/Vector3d.h"
#include "Utils/Matrix3d.h"

Is this necessary? Use the forward declaration (few lines below) if possible (and move the include to the cpp file).

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src/Utils/Quaternion.cpp, line 351 at r1 (raw file):

    }
    
    utils::Matrix3d unit_vectors_matrix;

Please use camelCase (instead of snake_case) variable names in C++

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src/Utils/Quaternion.cpp, line 362 at r1 (raw file):

    rotation_2[0] = euler[0];
    rotation_2[1] = euler[1];
    utils::Vector3d Rot_mat_1 = utils::Rotation::Rotation::fromEulerAngles(rotation_1, seq);

Is there a reason to copy all this suff?

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src/Utils/Quaternion.cpp, line 377 at r1 (raw file):

    velocity_matrix(i, 1) = temp_vectors_for_matrix_1[i];
    velocity_matrix(i, 2) = temp_vectors_for_matrix_2[i];
    }

Indent the inside of the for loop.
That said, it feels you just copy stuff from three lines before? Why don't use the .block(x, x, x, x) method?

Code quote:

    velocity_matrix(i, 0) = temp_vectors_for_matrix_0[i];
    velocity_matrix(i, 1) = temp_vectors_for_matrix_1[i];
    velocity_matrix(i, 2) = temp_vectors_for_matrix_2[i];

[mickaelbegon]

@pariterre, if you have time, could you work with @EveCharbie on the PR? It is not urgent nor a priority

[pariterre]

@EveCharbie Please confirm the current code is what correct :)

[EveCharbie]

@pariterre : Yes looks fine, thanks :)

[pariterre]

Reviewed 5 of 5 files at r2, all commit messages.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @EveCharbie)

[pariterre]

@EveCharbie
Can you fix the error from testings? :)

[pariterre]

@EveCharbie up?

[EveCharbie]

I verified the values with my python version and everything is now OK :)

[codecov]

Codecov Report

Merging #263 (47f10b8) into master (238065f) will increase coverage by 0.26%.
The diff coverage is 96.82%.

❗ Current head 47f10b8 differs from pull request most recent head 3872c2f. Consider uploading reports for the commit 3872c2f to get more accurate results

@@            Coverage Diff             @@
##           master     #263      +/-   ##
==========================================
+ Coverage   78.62%   78.88%   +0.26%     
==========================================
  Files         101      101              
  Lines       11593    11689      +96     
==========================================
+ Hits         9115     9221     +106     
+ Misses       2478     2468      -10     

Impacted Files	Coverage Δ
include/Utils/Matrix3d.h	40.00% <ø> (ø)
include/Utils/Quaternion.h	100.00% <ø> (ø)
src/Utils/SpatialVector.cpp	61.53% <0.00%> (-18.47%)	⬇️
src/Utils/Matrix3d.cpp	97.14% <92.30%> (-2.86%)	⬇️
src/RigidBody/Contacts.cpp	91.79% <100.00%> (+0.83%)	⬆️
src/RigidBody/Joints.cpp	66.33% <100.00%> (+1.44%)	⬆️
src/Utils/Quaternion.cpp	91.51% <100.00%> (+0.89%)	⬆️
test/test_rigidbody.cpp	100.00% <100.00%> (ø)
test/test_utils.cpp	100.00% <100.00%> (ø)
... and 2 more

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[pariterre]

Reviewed 2 of 2 files at r3, all commit messages.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @EveCharbie)