Template Function pinocchio::Jlog3(const Eigen::MatrixBase<Matrix3Like1>&, const Eigen::MatrixBase<Matrix3Like2>&)

• Defined in File explog.hpp

Function Documentation

template<typename Matrix3Like1, typename Matrix3Like2>
void pinocchio::Jlog3(const Eigen::MatrixBase<Matrix3Like1> &R, const Eigen::MatrixBase<Matrix3Like2> &Jlog)

Derivative of log3.

Equivalent to

double theta;
Vector3 log = pinocchio::log3 (R, theta);
pinocchio::Jlog3 (theta, log, Jlog);

Parameters:

• R – [in] the rotation matrix.

• Jlog – [out] the jacobian