Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Found a bug in the conversion from a$\boldsymbol{\Psi}$ vector to a rotation matrix $\mathbf{R}$ . This only applies for larger $\Psi$ angles, as the small angle correction (which most "normal" cases will use) is correct.
Intended expression:
$$\mathbf{R} = \mathbf{I} + \sin||{\boldsymbol{\Psi}||} \tilde{\boldsymbol{\Psi}} + \frac{1-\cos{||\boldsymbol{\Psi}||}}{||\boldsymbol{\Psi}||^2}\tilde{\boldsymbol{\Psi}} \tilde{\boldsymbol{\Psi}}$$
Used expression:
$$\mathbf{R} = \mathbf{I} + \frac{\sin||\boldsymbol{\Psi}||}{||\boldsymbol{\Psi}||} \tilde{\boldsymbol{\Psi}} + (1-\cos{||\boldsymbol{\Psi}||})\tilde{\boldsymbol{\Psi}} \tilde{\boldsymbol{\Psi}}$$