.. _exhale_function_namespacepinocchio_1ae021bf18849b6f007fdcca9360e5feaf:

Template Function pinocchio::orthonormalisation
===============================================

- Defined in :ref:`file_include_pinocchio_math_gram-schmidt-orthonormalisation.hpp`


Function Documentation
----------------------


.. doxygenfunction:: pinocchio::orthonormalisation(const Eigen::MatrixBase<MatrixType>&, const Eigen::MatrixBase<VectorType>&)
   :project: pinocchio Doxygen Project