#include "pinocchio/fwd.hpp"#include "pinocchio/math/matrix.hpp"#include "pinocchio/math/sincos.hpp"#include <Eigen/Core>#include <Eigen/Geometry>#include <Eigen/SVD>
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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 &angle, const Eigen::MatrixBase< Matrix3 > &res) |
| Computes a rotation matrix from a vector and the angular value orientations values. 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... | |