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The issue was noticed when loading the trajectory in the local optimization frame defined for the project.

Now, in theory is could be transformed and treated as rigidbodytransform (this is usefull to load the trajectory, as it is loaded as rigidbodytransform, and rigidbodytransforms can be combined using their operator *), but the results vary ever so sligthly when the computations are done with an Affine transform.

The issue of numerical stability when loading the trajectories in the optimization frame needs to be investigated.

Especially, we might want to consider a transformation which:

• first shift the vectors in the approximate location of the local optimization frame
• then apply a rotation