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18 template<
typename Vector3>
19 Eigen::Matrix<typename Vector3::Scalar, 3, 3, Vector3::Options>
skew(
const Vector3 &
v)
26 template<
typename Vector3>
27 Eigen::Matrix<typename Vector3::Scalar, 3, 3, Vector3::Options>
35 template<
typename Matrix3>
36 Eigen::Matrix<typename Matrix3::Scalar, 3, 1, Matrix3::Options>
unSkew(
const Matrix3 & mat)
47 "skew", &skew<Vector3>, bp::arg(
"u"),
48 "Computes the skew representation of a given 3d vector, "
49 "i.e. the antisymmetric matrix representation of the cross product operator, aka U = "
52 "\tu: the input vector of dimension 3");
55 "skewSquare", &skewSquare<Vector3>, bp::args(
"u",
"v"),
56 "Computes the skew square representation of two given 3d vectors, "
57 "i.e. the antisymmetric matrix representation of the chained cross product operator, "
58 "u x (v x w), where w is another 3d vector.\n"
60 "\tu: the first input vector of dimension 3\n"
61 "\tv: the second input vector of dimension 3");
64 "unSkew", &unSkew<Matrix3>, bp::arg(
"U"),
65 "Inverse of skew operator. From a given skew symmetric matrix U (i.e U = -U.T)"
66 "of dimension 3x3, it extracts the supporting vector, i.e. the entries of U.\n"
67 "Mathematically speacking, it computes v such that U.dot(x) = cross(u, x).\n"
69 "\tU: the input skew symmetric matrix of dimension 3x3.");
traits< SE3Tpl >::Vector3 Vector3
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > const Eigen::MatrixBase< ConfigVectorIn2 > const Scalar & u
Eigen::Matrix< typename Vector3::Scalar, 3, 3, Vector3::Options > skewSquare(const Vector3 &u, const Vector3 &v)
traits< SE3Tpl >::Matrix3 Matrix3
void skew(const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3 > &M)
Computes the skew representation of a given 3d vector, i.e. the antisymmetric matrix representation o...
Eigen::Matrix< Scalar, 3, 1, Options > Vector3
Eigen::Matrix< typename Vector3::Scalar, 3, 3, Vector3::Options > skew(const Vector3 &v)
void skewSquare(const Eigen::MatrixBase< V1 > &u, const Eigen::MatrixBase< V2 > &v, const Eigen::MatrixBase< Matrix3 > &C)
Computes the square cross product linear operator C(u,v) such that for any vector w,...
Eigen::Matrix< typename Matrix3::Scalar, 3, 1, Matrix3::Options > unSkew(const Matrix3 &mat)
void unSkew(const Eigen::MatrixBase< Matrix3 > &M, const Eigen::MatrixBase< Vector3 > &v)
Inverse of skew operator. From a given skew-symmetric matrix M of dimension 3x3, it extracts the supp...
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:09