Template Function pinocchio::Jlog3(const Scalar&, const Eigen::MatrixBase<Vector3Like>&, const Eigen::MatrixBase<Matrix3Like>&)
Defined in File explog.hpp
Function Documentation
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template<typename Scalar, typename Vector3Like, typename Matrix3Like>
void pinocchio::Jlog3(const Scalar &theta, const Eigen::MatrixBase<Vector3Like> &log, const Eigen::MatrixBase<Matrix3Like> &Jlog) Derivative of log3.
This function is the right derivative of log3, that is, for
and , it provides the linear approximation:Equivalently,
is the right Jacobian of :Note that this is the right Jacobian:
. (By convention, calculations in Pinocchio always perform right differentiation, i.e., Jacobians are in local coordinates (also known as body coordinates), unless otherwise specified.)If we denote by
and , then can be calculated as:where
denotes the skew-symmetric matrix obtained from the 3D vector .Note
The inputs must be such that
.- Parameters:
theta – [in] the angle value.
log – [in] the output of log3.
Jlog – [out] the jacobian