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Add pre-commit hooks (#1629)

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2020-06-03 12:54:49 -07:00
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common/transformations/README.md
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@@ -25,14 +25,14 @@ by generating a rotation matrix and multiplying.
Orientation Conventations
------
Quaternions, rotation matrices and euler angles are three
Quaternions, rotation matrices and euler angles are three
equivalent representations of orientation and all three are
used throughout the code base.
For euler angles the preferred convention is [roll, pitch, yaw]
which corresponds to rotations around the [x, y, z] axes. All
euler angles should always be in radians or radians/s unless
for plotting or display purposes. For quaternions the hamilton
for plotting or display purposes. For quaternions the hamilton
notations is preferred which is [q<sub>w</sub>, q<sub>x</sub>, q<sub>y</sub>, q<sub>z</sub>]. All quaternions
should always be normalized with a strictly positive q<sub>w</sub>. **These
quaternions are a unique representation of orientation whereas euler angles
@@ -49,7 +49,7 @@ EONs are not all mounted in the exact same way. To compensate for the effects of
Example
------
To transform global Mesh3D positions and orientations (positions_ecef, quats_ecef) into the local frame described by the
To transform global Mesh3D positions and orientations (positions_ecef, quats_ecef) into the local frame described by the
first position and orientation from Mesh3D one would do:
```
ecef_from_local = rot_from_quat(quats_ecef[0])