Template Function pinocchio::orthonormalisation

Function Documentation

template<typename MatrixType, typename VectorType>
void pinocchio::orthonormalisation(const Eigen::MatrixBase<MatrixType> &basis, const Eigen::MatrixBase<VectorType> &vec_)

Perform the Gram-Schmidt orthonormalisation on the input/output vector for a given input basis.

Parameters:
  • basis[in] Orthonormal basis

  • vec[inout] Vector to orthonomarlize wrt the input basis