Template Function pinocchio::quaternion::Jlog3

• Defined in File explog-quaternion.hpp

Function Documentation

template<typename QuaternionLike, typename Matrix3Like>
void pinocchio::quaternion::Jlog3(const Eigen::QuaternionBase<QuaternionLike> &quat, const Eigen::MatrixBase<Matrix3Like> &Jlog)

Computes the Jacobian of log3 operator for a unit quaternion.

Parameters:

• quat – [in] A unit quaternion representing the input rotation.

• Jlog – [out] The resulting Jacobian of the log operator.