Namespaces | Functions
src/spatial/explog.hpp File Reference
#include "pinocchio/fwd.hpp"
#include "pinocchio/utils/static-if.hpp"
#include "pinocchio/math/fwd.hpp"
#include "pinocchio/math/sincos.hpp"
#include "pinocchio/math/taylor-expansion.hpp"
#include "pinocchio/spatial/motion.hpp"
#include "pinocchio/spatial/skew.hpp"
#include "pinocchio/spatial/se3.hpp"
#include <Eigen/Geometry>
#include "pinocchio/spatial/log.hpp"
#include "pinocchio/spatial/explog-quaternion.hpp"
#include "pinocchio/spatial/log.hxx"
Include dependency graph for src/spatial/explog.hpp:

Go to the source code of this file.

Namespaces

 pinocchio
 Main pinocchio namespace.
 

Functions

template<typename Vector3Like >
Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options > pinocchio::exp3 (const Eigen::MatrixBase< Vector3Like > &v)
 Exp: so3 -> SO3. More...
 
template<typename MotionDerived >
SE3Tpl< typename MotionDerived::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionDerived::Vector3)::Options > pinocchio::exp6 (const MotionDense< MotionDerived > &nu)
 Exp: se3 -> SE3. More...
 
template<typename Vector6Like >
SE3Tpl< typename Vector6Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options > pinocchio::exp6 (const Eigen::MatrixBase< Vector6Like > &v)
 Exp: se3 -> SE3. More...
 
template<typename Scalar , typename Vector3Like1 , typename Vector3Like2 , typename Matrix3Like >
void pinocchio::Hlog3 (const Scalar &theta, const Eigen::MatrixBase< Vector3Like1 > &log, const Eigen::MatrixBase< Vector3Like2 > &v, const Eigen::MatrixBase< Matrix3Like > &vt_Hlog)
 
template<typename Matrix3Like1 , typename Vector3Like , typename Matrix3Like2 >
void pinocchio::Hlog3 (const Eigen::MatrixBase< Matrix3Like1 > &R, const Eigen::MatrixBase< Vector3Like > &v, const Eigen::MatrixBase< Matrix3Like2 > &vt_Hlog)
 Second order derivative of log3. More...
 
template<AssignmentOperatorType op, typename Vector3Like , typename Matrix3Like >
void pinocchio::Jexp3 (const Eigen::MatrixBase< Vector3Like > &r, const Eigen::MatrixBase< Matrix3Like > &Jexp)
 Derivative of $ \exp{r} $

\[ \frac{\sin{||r||}}{||r||} I_3 - \frac{1-\cos{||r||}}{||r||^2} \left[ r \right]_x + \frac{1}{||n||^2} (1-\frac{\sin{||r||}}{||r||}) r r^T \]

. More...

 
template<typename Vector3Like , typename Matrix3Like >
void pinocchio::Jexp3 (const Eigen::MatrixBase< Vector3Like > &r, const Eigen::MatrixBase< Matrix3Like > &Jexp)
 Derivative of $ \exp{r} $

\[ \frac{\sin{||r||}}{||r||} I_3 - \frac{1-\cos{||r||}}{||r||^2} \left[ r \right]_x + \frac{1}{||n||^2} (1-\frac{\sin{||r||}}{||r||}) r r^T \]

. More...

 
template<AssignmentOperatorType op, typename MotionDerived , typename Matrix6Like >
void pinocchio::Jexp6 (const MotionDense< MotionDerived > &nu, const Eigen::MatrixBase< Matrix6Like > &Jexp)
 Derivative of exp6 Computed as the inverse of Jlog6. More...
 
template<typename MotionDerived , typename Matrix6Like >
void pinocchio::Jexp6 (const MotionDense< MotionDerived > &nu, const Eigen::MatrixBase< Matrix6Like > &Jexp)
 Derivative of exp6 Computed as the inverse of Jlog6. More...
 
template<typename Scalar , typename Vector3Like , typename Matrix3Like >
void pinocchio::Jlog3 (const Scalar &theta, const Eigen::MatrixBase< Vector3Like > &log, const Eigen::MatrixBase< Matrix3Like > &Jlog)
 Derivative of log3. More...
 
template<typename Matrix3Like1 , typename Matrix3Like2 >
void pinocchio::Jlog3 (const Eigen::MatrixBase< Matrix3Like1 > &R, const Eigen::MatrixBase< Matrix3Like2 > &Jlog)
 Derivative of log3. More...
 
template<typename Scalar , int Options, typename Matrix6Like >
void pinocchio::Jlog6 (const SE3Tpl< Scalar, Options > &M, const Eigen::MatrixBase< Matrix6Like > &Jlog)
 Derivative of log6. More...
 
template<typename Matrix3Like >
Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options > pinocchio::log3 (const Eigen::MatrixBase< Matrix3Like > &R, typename Matrix3Like::Scalar &theta)
 Same as log3. More...
 
template<typename Matrix3Like >
Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options > pinocchio::log3 (const Eigen::MatrixBase< Matrix3Like > &R)
 Log: SO(3)-> so(3). More...
 
template<typename Scalar , int Options>
MotionTpl< Scalar, Options > pinocchio::log6 (const SE3Tpl< Scalar, Options > &M)
 Log: SE3 -> se3. More...
 
template<typename Matrix4Like >
MotionTpl< typename Matrix4Like::Scalar, Eigen::internal::traits< Matrix4Like >::Options > pinocchio::log6 (const Eigen::MatrixBase< Matrix4Like > &M)
 Log: SE3 -> se3. More...
 


pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:33