Namespaces | Functions
rotation.hpp File Reference
#include "pinocchio/fwd.hpp"
#include "pinocchio/math/matrix.hpp"
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/SVD>
Include dependency graph for rotation.hpp:

Go to the source code of this file.

Namespaces

 pinocchio
 Main pinocchio namespace.
 

Functions

template<typename Matrix3 >
void pinocchio::normalizeRotation (const Eigen::MatrixBase< Matrix3 > &rot)
 Orthogonormalization procedure for a rotation matrix (closed enough to SO(3)). More...
 
template<typename Matrix3 >
 pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE (Matrix3) orthogonalProjection(const Eigen
 Orthogonal projection of a matrix on the SO(3) manifold. More...
 
template<typename Vector3 , typename Scalar , typename Matrix3 >
void pinocchio::toRotationMatrix (const Eigen::MatrixBase< Vector3 > &axis, const Scalar &cos_value, const Scalar &sin_value, const Eigen::MatrixBase< Matrix3 > &res)
 Computes a rotation matrix from a vector and values of sin and cos orientations values. More...
 


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autogenerated on Fri Jun 23 2023 02:38:33