Template Function pinocchio::log6(const SE3Tpl<Scalar, Options>&)

• Defined in File explog.hpp

Function Documentation

template<typename Scalar, int Options>
MotionTpl<Scalar, Options> pinocchio::log6(const SE3Tpl<Scalar, Options> &M)

Log: SE3 -> se3.

Pseudo-inverse of exp from \( SE3 \to { v,\omega \in \mathfrak{se}(3), ||\omega|| < 2\pi } \).

Parameters:

M – [in] The rigid transformation.

Returns:

The twist associated to the rigid transformation during time 1.