Function stomp::differentiate

• Defined in File utils.h

Function Documentation

void stomp::differentiate(const Eigen::VectorXd &parameters, DerivativeOrders::DerivativeOrder order, double dt, Eigen::VectorXd &derivatives)

Differentiates the input parameters based on the DerivativeOrder.

Parameters:

• parameters – The parameters to be differentiated

• order – The differentiation order

• dt – The timestep in seconds

• derivatives – The differentiation of the input parameters