Template Function pinocchio::Hlog3(const Eigen::MatrixBase<Matrix3Like1>&, const Eigen::MatrixBase<Vector3Like>&, const Eigen::MatrixBase<Matrix3Like2>&)

• Defined in File explog.hpp

Function Documentation

template<typename Matrix3Like1, typename Vector3Like, typename Matrix3Like2>
void pinocchio::Hlog3(const Eigen::MatrixBase<Matrix3Like1> &R, const Eigen::MatrixBase<Vector3Like> &v, const Eigen::MatrixBase<Matrix3Like2> &vt_Hlog)

Second order derivative of log3.

This computes \( v^T H_{log} \).

Parameters:

• R – [in] the rotation matrix.

• v – [in] the 3D vector.

• vt_Hlog – [out] the product of the Hessian with the input vector