Potential incorrect referential

[bouviervj]

Thank you for this page, that gives good advices on how to get the computation started.

I implemented this algorithm for a real stewart platform with linear actuators. I tried to get a rotation on Z axis and everything went smoothly. I started to play with other axis X,Y and saw that the rotation is applied to the center of the base, and not the center of the platform.

Simply applying the algorithm by swapping the the coordinates of the platform P vs the coordinates of the base B, makes the computation relative to the platform home position.

l = np.repeat(trans[:, np.newaxis], 6, axis=1) + np.repeat(self.home_pos[:, np.newaxis], 6, axis=1) + np.matmul(R, B) - P 

The translation is applied first, then the rotation.

This could be helpful for other implementing their platform. You could have both options.

[Yeok-c]

This is a nice catch! It makes sense but this didn't come up in my testing. Go ahead and open a pull request with some test data and I can merge this change 👍