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Author SHA1 Message Date
Mateo de Mayo f904f3f16c a/math: Repurpose test file for testing pose math 2022-06-18 14:19:01 -03:00
Campbell Suter 0f8da1900b a/math: Fix math_pose_invert breaking on rotated poses, and add a test 
Previously, math_pose_invert would apply a multiplication in the wrong
order. This lead to the position of the 'original' pose being rotated.

This patch fixes that, and adds a unit test to check this case.
 2022-06-01 16:44:03 +01:00