pinocchio: explog-quaternion.hpp File Reference

#include "pinocchio/math/quaternion.hpp"
#include "pinocchio/spatial/explog.hpp"
#include "pinocchio/utils/static-if.hpp"

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Namespaces
	pinocchio
	Main pinocchio namespace.

	pinocchio::quaternion
	Quaternion operations.

Functions
template<typename Vector3Like >
Eigen::Quaternion< typename Vector3Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options >	pinocchio::quaternion::exp3 (const Eigen::MatrixBase< Vector3Like > &v)
	Exp: so3 -> SO3 (quaternion) More...

template<typename Vector3Like , typename QuaternionLike >
void	pinocchio::quaternion::exp3 (const Eigen::MatrixBase< Vector3Like > &v, Eigen::QuaternionBase< QuaternionLike > &quat_out)
	Exp: so3 -> SO3 (quaternion) More...

template<typename Vector6Like >
Eigen::Matrix< typename Vector6Like::Scalar, 7, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options >	pinocchio::quaternion::exp6 (const Eigen::MatrixBase< Vector6Like > &vec6)
	The se3 -> SE3 exponential map, using quaternions to represent the output rotation. More...

template<typename Vector6Like , typename Config_t >
void	pinocchio::quaternion::exp6 (const Eigen::MatrixBase< Vector6Like > &vec6, Eigen::MatrixBase< Config_t > &qout)
	The se3 -> SE3 exponential map, using quaternions to represent the output rotation. More...

template<typename MotionDerived >
Eigen::Matrix< typename MotionDerived::Scalar, 7, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionDerived::Vector3)::Options >	pinocchio::quaternion::exp6 (const MotionDense< MotionDerived > &motion)
	The se3 -> SE3 exponential map, using quaternions to represent the output rotation. More...

template<typename MotionDerived , typename Config_t >
void	pinocchio::quaternion::exp6 (const MotionDense< MotionDerived > &motion, Eigen::MatrixBase< Config_t > &qout)
	The se3 -> SE3 exponential map, using quaternions to represent the output rotation. More...

template<typename Vector3Like , typename Matrix43Like >
void	pinocchio::quaternion::Jexp3CoeffWise (const Eigen::MatrixBase< Vector3Like > &v, const Eigen::MatrixBase< Matrix43Like > &Jexp)
	Derivative of $q = \exp{\mathbf{v} + \delta\mathbf{v}}$ where $\delta\mathbf{v}$ is a small perturbation of $\mathbf{v}$ at identity. More...

template<typename QuaternionLike , typename Matrix3Like >
void	pinocchio::quaternion::Jlog3 (const Eigen::QuaternionBase< QuaternionLike > &quat, const Eigen::MatrixBase< Matrix3Like > &Jlog)
	Computes the Jacobian of log3 operator for a unit quaternion. More...

template<typename QuaternionLike >
Eigen::Matrix< typename QuaternionLike::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(typename QuaternionLike::Vector3)::Options >	pinocchio::quaternion::log3 (const Eigen::QuaternionBase< QuaternionLike > &quat)
	Log: SO3 -> so3. More...

template<typename QuaternionLike >
Eigen::Matrix< typename QuaternionLike::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(typename QuaternionLike::Vector3)::Options >	pinocchio::quaternion::log3 (const Eigen::QuaternionBase< QuaternionLike > &quat, typename QuaternionLike::Scalar &theta)
	Same as log3 but with a unit quaternion as input. More...

Namespaces

Functions