Template Function pinocchio::addSkew

• Defined in File skew.hpp

Function Documentation

template<typename Vector3Like, typename Matrix3Like>
inline void pinocchio::addSkew(const Eigen::MatrixBase<Vector3Like> &v, const Eigen::MatrixBase<Matrix3Like> &M)

Add skew matrix represented by a 3d vector to a given matrix, i.e. add the antisymmetric matrix representation of the cross product operator ( \( [v]_{\times} x = v \times x \))

Parameters:

• v – [in] a vector of dimension 3.

• M – [out] the 3x3 matrix to which the skew matrix is added.