Template Function pinocchio::log6(const Eigen::MatrixBase<Matrix4Like>&)

• Defined in File explog.hpp

Function Documentation

template<typename Matrix4Like>
MotionTpl<typename Matrix4Like::Scalar, Eigen::internal::traits<Matrix4Like>::Options> pinocchio::log6(const Eigen::MatrixBase<Matrix4Like> &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 represented as an homogenous matrix.

Returns:

The twist associated to the rigid transformation during time 1.