spatial/se3-tpl.hpp File Reference

#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/spatial/se3-base.hpp"
#include "pinocchio/math/quaternion.hpp"
#include "pinocchio/math/rotation.hpp"
#include "pinocchio/spatial/cartesian-axis.hpp"
#include <Eigen/Geometry>

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Classes
struct	pinocchio::internal::cast_call_normalize_method< SE3Tpl< Scalar, Options >, NewScalar, Scalar >
struct	pinocchio::internal::cast_call_normalize_method< SE3Tpl< Scalar, Options >, Scalar, Scalar >
struct	pinocchio::SE3Tpl< _Scalar, _Options >
struct	pinocchio::traits< SE3Tpl< _Scalar, _Options > >

Namespaces
	pinocchio
	Main pinocchio namespace.
	pinocchio::internal

Macros
#define	PINOCCHIO_INTERNAL_COMPUTATION(axis_id, v3_in, v3_out, R, res)

Macro Definition Documentation

PINOCCHIO_INTERNAL_COMPUTATION

#define PINOCCHIO_INTERNAL_COMPUTATION	(		axis_id,
			v3_in,
			v3_out,
			R,
			res
	)

Value:

  CartesianAxis<axis_id>::cross(v3_in, v3_out);                                                    \
  res.col(axis_id).noalias() = R.transpose() * v3_out;