#include "pinocchio/fwd.hpp"
#include "pinocchio/math/matrix.hpp"
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/SVD>
Go to the source code of this file.
|
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...
|
|