Template Function pinocchio::isUnitary

• Defined in File matrix.hpp

Function Documentation

template<typename MatrixLike>
inline bool pinocchio::isUnitary(const Eigen::MatrixBase<MatrixLike> &mat, const typename MatrixLike::RealScalar &prec = Eigen::NumTraits<typename MatrixLike::Scalar>::dummy_precision())

Check whether the input matrix is Unitary within the given precision.

Parameters:

• mat – [in] Input matrix

• prec – [in] Required precision

Returns:

true if mat is unitary within the precision prec