eigen_utils.h File Reference

#include <Eigen/Dense>
#include <Eigen/Geometry>

Include dependency graph for eigen_utils.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Functions
template<class T >
bool	checkForNumeric (const T &vec, int size, const std::string &info)
	debug output to check misbehavior of Eigen
template<class Derived >
Eigen::Matrix< typename Derived::Scalar, 4, 4 >	omegaMatHamilton (const Eigen::MatrixBase< Derived > &vec)
	returns a matrix with angular velocities used for quaternion derivatives/integration with the Hamilton notation
template<class Derived >
Eigen::Matrix< typename Derived::Scalar, 4, 4 >	omegaMatJPL (const Eigen::MatrixBase< Derived > &vec)
	returns a matrix with angular velocities used for quaternion derivatives/integration with the JPL notation
template<class Derived >
Eigen::Quaternion< typename Derived::Scalar >	quaternionFromSmallAngle (const Eigen::MatrixBase< Derived > &theta)
	computes a quaternion from the 3-element small angle approximation theta
template<class Derived >
Eigen::Matrix< typename Derived::Scalar, 3, 3 >	skew (const Eigen::MatrixBase< Derived > &vec)
	returns the 3D cross product skew symmetric matrix of a given 3D vector

---

Function Documentation

template<class T >

bool checkForNumeric	(	const T &	vec,
		int	size,
		const std::string &	info
	)

debug output to check misbehavior of Eigen

Definition at line 107 of file eigen_utils.h.

template<class Derived >

Eigen::Matrix<typename Derived::Scalar, 4, 4> omegaMatHamilton

(

const Eigen::MatrixBase< Derived > &

vec

)

[inline]

returns a matrix with angular velocities used for quaternion derivatives/integration with the Hamilton notation

The quaternion to be multiplied with this matrix has to be in the order x y z w !!!

Parameters:

<vec>

{3D vector with angular velocities}

Returns:

{4x4 matrix for multiplication with the quaternion}

Definition at line 72 of file eigen_utils.h.

template<class Derived >

Eigen::Matrix<typename Derived::Scalar, 4, 4> omegaMatJPL

(

const Eigen::MatrixBase< Derived > &

vec

)

[inline]

returns a matrix with angular velocities used for quaternion derivatives/integration with the JPL notation

The quaternion to be multiplied with this matrix has to be in the order x y z w !!!

Parameters:

<vec>

{3D vector with angular velocities}

Returns:

{4x4 matrix for multiplication with the quaternion}

Definition at line 53 of file eigen_utils.h.

template<class Derived >

Eigen::Quaternion<typename Derived::Scalar> quaternionFromSmallAngle

(

const Eigen::MatrixBase< Derived > &

theta

)

computes a quaternion from the 3-element small angle approximation theta

Definition at line 86 of file eigen_utils.h.

template<class Derived >

Eigen::Matrix<typename Derived::Scalar, 3, 3> skew

(

const Eigen::MatrixBase< Derived > &

vec

)

[inline]

returns the 3D cross product skew symmetric matrix of a given 3D vector

Definition at line 40 of file eigen_utils.h.