#include "pinocchio/math/quaternion.hpp"
#include "pinocchio/spatial/explog.hpp"
#include "pinocchio/utils/static-if.hpp"
Go to the source code of this file.
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template<typename Vector3Like , typename QuaternionLike > |
void | pinocchio::quaternion::exp3 (const Eigen::MatrixBase< Vector3Like > &v, Eigen::QuaternionBase< QuaternionLike > &quat_out) |
| Exp: so3 -> SO3 (quaternion) More...
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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...
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template<typename Vector3Like , typename Matrix43Like > |
void | pinocchio::quaternion::Jexp3CoeffWise (const Eigen::MatrixBase< Vector3Like > &v, const Eigen::MatrixBase< Matrix43Like > &Jexp) |
| Derivative of where is a small perturbation of at identity. More...
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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...
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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...
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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...
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