#include "pinocchio/fwd.hpp"#include "pinocchio/utils/static-if.hpp"#include "pinocchio/math/fwd.hpp"#include "pinocchio/math/sincos.hpp"#include "pinocchio/math/taylor-expansion.hpp"#include "pinocchio/spatial/motion.hpp"#include "pinocchio/spatial/skew.hpp"#include "pinocchio/spatial/se3.hpp"#include <Eigen/Geometry>#include "pinocchio/spatial/log.hpp"#include "pinocchio/spatial/explog-quaternion.hpp"#include "pinocchio/spatial/log.hxx"
Include dependency graph for src/spatial/explog.hpp:
Go to the source code of this file.
Namespaces | |
| pinocchio | |
| Main pinocchio namespace. | |
Functions | |
| template<typename Vector3Like > | |
| Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options > | pinocchio::exp3 (const Eigen::MatrixBase< Vector3Like > &v) |
| Exp: so3 -> SO3. More... | |
| template<typename MotionDerived > | |
| SE3Tpl< typename MotionDerived::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionDerived::Vector3)::Options > | pinocchio::exp6 (const MotionDense< MotionDerived > &nu) |
| Exp: se3 -> SE3. More... | |
| template<typename Vector6Like > | |
| SE3Tpl< typename Vector6Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options > | pinocchio::exp6 (const Eigen::MatrixBase< Vector6Like > &v) |
| Exp: se3 -> SE3. More... | |
| template<typename Scalar , typename Vector3Like1 , typename Vector3Like2 , typename Matrix3Like > | |
| void | pinocchio::Hlog3 (const Scalar &theta, const Eigen::MatrixBase< Vector3Like1 > &log, const Eigen::MatrixBase< Vector3Like2 > &v, const Eigen::MatrixBase< Matrix3Like > &vt_Hlog) |
| 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. More... | |
| template<AssignmentOperatorType op, typename Vector3Like , typename Matrix3Like > | |
| void | pinocchio::Jexp3 (const Eigen::MatrixBase< Vector3Like > &r, const Eigen::MatrixBase< Matrix3Like > &Jexp) |
Derivative of 
. More... | |
| template<typename Vector3Like , typename Matrix3Like > | |
| void | pinocchio::Jexp3 (const Eigen::MatrixBase< Vector3Like > &r, const Eigen::MatrixBase< Matrix3Like > &Jexp) |
| Derivative of
. More... | |
| template<AssignmentOperatorType op, typename MotionDerived , typename Matrix6Like > | |
| void | pinocchio::Jexp6 (const MotionDense< MotionDerived > &nu, const Eigen::MatrixBase< Matrix6Like > &Jexp) |
| Derivative of exp6 Computed as the inverse of Jlog6. More... | |
| template<typename MotionDerived , typename Matrix6Like > | |
| void | pinocchio::Jexp6 (const MotionDense< MotionDerived > &nu, const Eigen::MatrixBase< Matrix6Like > &Jexp) |
| Derivative of exp6 Computed as the inverse of Jlog6. More... | |
| template<typename Scalar , typename Vector3Like , typename Matrix3Like > | |
| void | pinocchio::Jlog3 (const Scalar &theta, const Eigen::MatrixBase< Vector3Like > &log, const Eigen::MatrixBase< Matrix3Like > &Jlog) |
| Derivative of log3. More... | |
| template<typename Matrix3Like1 , typename Matrix3Like2 > | |
| void | pinocchio::Jlog3 (const Eigen::MatrixBase< Matrix3Like1 > &R, const Eigen::MatrixBase< Matrix3Like2 > &Jlog) |
| Derivative of log3. More... | |
| template<typename Scalar , int Options, typename Matrix6Like > | |
| void | pinocchio::Jlog6 (const SE3Tpl< Scalar, Options > &M, const Eigen::MatrixBase< Matrix6Like > &Jlog) |
| Derivative of log6
where
and
. More... | |
| template<typename Matrix3Like > | |
| Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options > | pinocchio::log3 (const Eigen::MatrixBase< Matrix3Like > &R, typename Matrix3Like::Scalar &theta) |
| Same as log3. More... | |
| template<typename Matrix3Like > | |
| Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options > | pinocchio::log3 (const Eigen::MatrixBase< Matrix3Like > &R) |
| Log: SO(3)-> so(3). More... | |
| template<typename Scalar , int Options> | |
| MotionTpl< Scalar, Options > | pinocchio::log6 (const SE3Tpl< Scalar, Options > &M) |
| Log: SE3 -> se3. More... | |
| template<typename Matrix4Like > | |
| MotionTpl< typename Matrix4Like::Scalar, Eigen::internal::traits< Matrix4Like >::Options > | pinocchio::log6 (const Eigen::MatrixBase< Matrix4Like > &M) |
| Log: SE3 -> se3. More... | |
![\[ \frac{\sin{||r||}}{||r||} I_3 - \frac{1-\cos{||r||}}{||r||^2} \left[ r \right]_x + \frac{1}{||n||^2} (1-\frac{\sin{||r||}}{||r||}) r r^T \]](form_124.png)
![\[ \left(\begin{array}{cc} \text{Jlog3}(R) & J * \text{Jlog3}(R) \\ 0 & \text{Jlog3}(R) \\ \end{array}\right) \]](form_129.png)
![\[ M = \left(\begin{array}{cc} \exp(\mathbf{r}) & \mathbf{p} \\ 0 & 1 \\ \end{array}\right) \]](form_130.png)
![\[ \begin{eqnarray} J &=& \left.\frac{1}{2}[\mathbf{p}]_{\times} + \beta'(||r||) \frac{\mathbf{r}^T\mathbf{p}}{||r||}\mathbf{r}\mathbf{r}^T - (||r||\beta'(||r||) + 2 \beta(||r||)) \mathbf{p}\mathbf{r}^T\right.\\ &&\left. + \mathbf{r}^T\mathbf{p}\beta(||r||)I_3 + \beta(||r||)\mathbf{r}\mathbf{p}^T\right. \end{eqnarray} \]](form_131.png)
![\[ \beta(x)=\left(\frac{1}{x^2} - \frac{\sin x}{2x(1-\cos x)}\right) \]](form_132.png)