Functions
eigen_utils.h File Reference
#include <Eigen/Dense>
#include <Eigen/Geometry>
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Functions

template<class T >
bool checkForNumeric (const T &vec, int size, const std::string &info)
 debug output to check misbehavior of Eigen
template<class Derived >
Eigen::Matrix< typename
Derived::Scalar, 4, 4 > 
omegaMatHamilton (const Eigen::MatrixBase< Derived > &vec)
 returns a matrix with angular velocities used for quaternion derivatives/integration with the Hamilton notation
template<class Derived >
Eigen::Matrix< typename
Derived::Scalar, 4, 4 > 
omegaMatJPL (const Eigen::MatrixBase< Derived > &vec)
 returns a matrix with angular velocities used for quaternion derivatives/integration with the JPL notation
template<class Derived >
Eigen::Quaternion< typename
Derived::Scalar > 
quaternionFromSmallAngle (const Eigen::MatrixBase< Derived > &theta)
 computes a quaternion from the 3-element small angle approximation theta
template<class Derived >
Eigen::Matrix< typename
Derived::Scalar, 3, 3 > 
skew (const Eigen::MatrixBase< Derived > &vec)
 returns the 3D cross product skew symmetric matrix of a given 3D vector

Function Documentation

template<class T >
bool checkForNumeric ( const T &  vec,
int  size,
const std::string &  info 
)

debug output to check misbehavior of Eigen

Definition at line 107 of file eigen_utils.h.

template<class Derived >
Eigen::Matrix<typename Derived::Scalar, 4, 4> omegaMatHamilton ( const Eigen::MatrixBase< Derived > &  vec) [inline]

returns a matrix with angular velocities used for quaternion derivatives/integration with the Hamilton notation

The quaternion to be multiplied with this matrix has to be in the order x y z w !!!

Parameters:
<vec>{3D vector with angular velocities}
Returns:
{4x4 matrix for multiplication with the quaternion}

Definition at line 72 of file eigen_utils.h.

template<class Derived >
Eigen::Matrix<typename Derived::Scalar, 4, 4> omegaMatJPL ( const Eigen::MatrixBase< Derived > &  vec) [inline]

returns a matrix with angular velocities used for quaternion derivatives/integration with the JPL notation

The quaternion to be multiplied with this matrix has to be in the order x y z w !!!

Parameters:
<vec>{3D vector with angular velocities}
Returns:
{4x4 matrix for multiplication with the quaternion}

Definition at line 53 of file eigen_utils.h.

template<class Derived >
Eigen::Quaternion<typename Derived::Scalar> quaternionFromSmallAngle ( const Eigen::MatrixBase< Derived > &  theta)

computes a quaternion from the 3-element small angle approximation theta

Definition at line 86 of file eigen_utils.h.

template<class Derived >
Eigen::Matrix<typename Derived::Scalar, 3, 3> skew ( const Eigen::MatrixBase< Derived > &  vec) [inline]

returns the 3D cross product skew symmetric matrix of a given 3D vector

Definition at line 40 of file eigen_utils.h.



ssf_core
Author(s): Stephan Weiss, Markus Achtelik
autogenerated on Fri Jan 3 2014 11:21:29