Template Function pinocchio::cross

• Defined in File skew.hpp

Function Documentation

template<typename Vector3, typename Matrix3xIn, typename Matrix3xOut>
inline void pinocchio::cross(const Eigen::MatrixBase<Vector3> &v, const Eigen::MatrixBase<Matrix3xIn> &Min, const Eigen::MatrixBase<Matrix3xOut> &Mout)

Applies the cross product onto the columns of M.

Parameters:

• v – [in] a vector of dimension 3.

• Min – [in] a 3 rows matrix.

• Mout – [out] a 3 rows matrix.

Returns:

the results of \( Mout = [v]_{\times} Min \).