Namespaces | Functions
explog-quaternion.hpp File Reference
#include "pinocchio/math/quaternion.hpp"
#include "pinocchio/spatial/explog.hpp"
#include "pinocchio/utils/static-if.hpp"
Include dependency graph for explog-quaternion.hpp:

Go to the source code of this file.

Namespaces

 pinocchio
 Main pinocchio namespace.
 
 pinocchio::quaternion
 Quaternion operations.
 

Functions

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 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 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, typename QuaternionLike::Scalar &theta)
 Same as log3 but with a unit quaternion as input. 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...
 


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autogenerated on Fri Jun 23 2023 02:38:33