gram-schmidt-orthonormalisation.hpp File Reference

#include "pinocchio/math/fwd.hpp"
#include <Eigen/Core>

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Namespaces
	pinocchio
	Main pinocchio namespace.

Functions
template<typename MatrixType , typename VectorType >
void	pinocchio::orthonormalisation (const Eigen::MatrixBase< MatrixType > &basis, const Eigen::MatrixBase< VectorType > &vec_)
	Perform the Gram-Schmidt orthonormalisation on the input/output vector for a given input basis. More...