.. _exhale_function_namespacepinocchio_1a45b9b401eda2fca0e3df1d0dfb876551:

Template Function pinocchio::isUnitary
======================================

- Defined in :ref:`file_include_pinocchio_math_matrix.hpp`


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


.. doxygenfunction:: pinocchio::isUnitary(const Eigen::MatrixBase<MatrixLike>&, const typename MatrixLike::RealScalar&)
   :project: pinocchio Doxygen Project