Update drakeFunction.geometry

solvers/+drakeFunction/+geometry/+test/testDesiredQuatDiff.m

@@ -1,6 +1,5 @@
 function testDesiredQuatDiff
 import drakeFunction.*
-import drakeFunction.frame.*
 import drakeFunction.geometry.*
 
 quat_des = randn(4,1);
@@ -17,4 +16,4 @@
 d = des_quat_diff_fcn.eval([1;0;0;0]);
 axis_des = quat2axis(quat_des);
 valuecheck(cos(axis_des(4)),d,1e-5);
-end
+end

solvers/+drakeFunction/+geometry/DesiredQuatDiff.m

@@ -17,9 +17,9 @@
       norm_quat_des = norm(quat_des);
       valuecheck(norm_quat_des,1,1e-4);
       quat_des = quat_des/norm_quat_des;
-      input_frame = drakeFunction.frames.realCoordinateSpace(4);
-      output_frame = drakeFunction.frames.realCoordinateSpace(1);
-      obj = [email protected](input_frame,output_frame);
+      dim_input = 4;
+      dim_output = 1;
+      obj = [email protected](dim_input, dim_output);
       obj.quat_des = quat_des;
     end
 
@@ -33,4 +33,4 @@
       end
     end
   end
-end
+end