pinocchio: skew.hpp File Reference

#include "pinocchio/macros.hpp"

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Namespaces
	pinocchio
	Main pinocchio namespace.

Functions
template<typename Vector3Like , typename Matrix3Like >
void	pinocchio::addSkew (const Eigen::MatrixBase< Vector3Like > &v, const Eigen::MatrixBase< Matrix3Like > &M)
	Add skew matrix represented by a 3d vector to a given matrix, i.e. add the antisymmetric matrix representation of the cross product operator ( $[v]_{\times} x = v \times x$ ) More...

template<typename Scalar , typename Vector3 >
Eigen::Matrix< typename Vector3::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3)::Options >	pinocchio::alphaSkew (const Scalar alpha, const Eigen::MatrixBase< Vector3 > &v)
	Computes the skew representation of a given 3d vector multiplied by a given scalar. i.e. the antisymmetric matrix representation of the cross product operator ( $[\alpha v]_{\times} x = \alpha v \times x$ ) More...

template<typename Scalar , typename Vector3 , typename Matrix3 >
void	pinocchio::alphaSkew (const Scalar alpha, const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3 > &M)
	Computes the skew representation of a given 3d vector multiplied by a given scalar. i.e. the antisymmetric matrix representation of the cross product operator ( $[\alpha v]_{\times} x = \alpha v \times x$ ) More...

template<typename Vector3 , typename Matrix3xIn , typename Matrix3xOut >
void	pinocchio::cross (const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3xIn > &Min, const Eigen::MatrixBase< Matrix3xOut > &Mout)
	Applies the cross product onto the columns of M. More...

template<typename Vector3 , typename Matrix3x >
	pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE (Matrix3x) cross(const Eigen
	Applies the cross product onto the columns of M. More...

template<typename D >
Eigen::Matrix< typename D::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(D)::Options >	pinocchio::skew (const Eigen::MatrixBase< D > &v)
	Computes the skew representation of a given 3D vector, i.e. the antisymmetric matrix representation of the cross product operator. More...

template<typename Vector3 , typename Matrix3 >
void	pinocchio::skew (const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3 > &M)
	Computes the skew representation of a given 3d vector, i.e. the antisymmetric matrix representation of the cross product operator ( $[v]_{\times} x = v \times x$ ) More...

template<typename V1 , typename V2 >
Eigen::Matrix< typename V1::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(V1)::Options >	pinocchio::skewSquare (const Eigen::MatrixBase< V1 > &u, const Eigen::MatrixBase< V2 > &v)
	Computes the square cross product linear operator C(u,v) such that for any vector w, $u \times ( v \times w ) = C(u,v) w$ . More...

template<typename V1 , typename V2 , typename Matrix3 >
void	pinocchio::skewSquare (const Eigen::MatrixBase< V1 > &u, const Eigen::MatrixBase< V2 > &v, const Eigen::MatrixBase< Matrix3 > &C)
	Computes the square cross product linear operator C(u,v) such that for any vector w, $u \times ( v \times w ) = C(u,v) w$ . More...

template<typename Matrix3 >
Eigen::Matrix< typename Matrix3::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3)::Options >	pinocchio::unSkew (const Eigen::MatrixBase< Matrix3 > &M)
	Inverse of skew operator. From a given skew-symmetric matrix M of dimension 3x3, it extracts the supporting vector, i.e. the entries of M. Mathematically speacking, it computes such that $M x = v \times x$ . More...

template<typename Matrix3 , typename Vector3 >
void	pinocchio::unSkew (const Eigen::MatrixBase< Matrix3 > &M, const Eigen::MatrixBase< Vector3 > &v)
	Inverse of skew operator. From a given skew-symmetric matrix M of dimension 3x3, it extracts the supporting vector, i.e. the entries of M. Mathematically speacking, it computes such that $M x = v \times x$ . More...

Namespaces

Functions