Template Function pinocchio::log6(const Eigen::QuaternionBase<QuaternionLike>&, const Eigen::MatrixBase<Vector3Like>&)
Defined in File explog.hpp
Function Documentation
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template<typename Vector3Like, typename QuaternionLike>
MotionTpl<typename Vector3Like::Scalar, Vector3Like::Options> pinocchio::log6(const Eigen::QuaternionBase<QuaternionLike> &quat, const Eigen::MatrixBase<Vector3Like> &vec) Log: SE3 -> se3.
Pseudo-inverse of exp from
, using the quaternion representation of the rotation.- Parameters:
quat – [in] The rotation quaternion.
vec – [in] The translation vector.
- Returns:
The twist associated to the rigid transformation during time 1.