4 from numpy.random
import rand
6 import pinocchio
as pin
7 from pinocchio
import skew, unSkew, skewSquare
11 from pinocchio
import casadi
as cpin
17 from test_case
import PinocchioTestCase
24 self.assertLess(np.linalg.norm(
skew(v3).dot(v3)), 1e-10)
26 x, y, z = tuple(
rand(3).tolist())
27 M = np.array([[0.0, x, y], [-x, 0.0, z], [-y, -z, 0.0]])
34 x, y, z = tuple(v3.tolist())
49 Rtarget = pin.utils.rotate(
"x", 3.14 / 4)
50 R0 = pin.Quaternion(0.707107, 0.707107, 0, 0).matrix()
54 nu = casadi.SX.sym(
"v", 3, 1)
56 cpin.exp3(nu).T @ Rtarget
59 casadi.Function(
"gradient" + str(i), [nu], [casadi.gradient(D[i], nu)])
65 np.any(np.isnan(d0)),
"NaN detected in the log3 function derivative"
70 M0: pin.SE3 = pin.SE3.Random()
77 print(R,
":\nlog: {}".format(logR))
85 if __name__ ==
"__main__":