valve's Issues
Global methods are wrong
void calcSkew(const vec &befScew, mat &aftScew);
void RotQuaternion(const mat &Rot, vec &Q);
void OrientationError(const vec &Qd, vec &Qe, vec &OrErr);
void line_traj(const vec &Xinit, vec &Xf, double Tf, double t, vec &Xd, vec &dXd);
void circle_traj(const vec &Xinit, double center_angle, double Tf, double t, double Radius, vec &Xd, vec &dXd);
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