Template Function pinocchio::quaternion::Jexp3CoeffWise

• Defined in File explog-quaternion.hpp

Function Documentation

template<typename Vector3Like, typename Matrix43Like>
void pinocchio::quaternion::Jexp3CoeffWise(const Eigen::MatrixBase<Vector3Like> &v, const Eigen::MatrixBase<Matrix43Like> &Jexp)

Derivative of \( q = \exp{\mathbf{v} + \delta\mathbf{v}} \) where \( \delta\mathbf{v} \) is a small perturbation of \( \mathbf{v} \) at identity.

Returns:

The Jacobian of the quaternion components variation.