Fix quaternion transform where from equals to.

equinor · Feb 11, 2022 · 8670f3a · 8670f3a
1 parent 19391a6
commit 8670f3a
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/alitra/frame_transform.py b/src/alitra/frame_transform.py
@@ -69,6 +69,9 @@ def transform_quaternion(
         from_: Literal["robot", "asset"],
         to_: Literal["robot", "asset"],
     ) -> Quaternion:
+        if from_ == to_:
+            return quaternion
+
         quaternion_from: Rotation = Rotation.from_quat(quaternion.as_np_array())
 
         if not isinstance(quaternion, Quaternion):