Template Function pinocchio::quaternion::Jexp3CoeffWise

Function Documentation

template<typename Vector3Like, typename Matrix43Like>
void pinocchio::quaternion::Jexp3CoeffWise(const Eigen::MatrixBase<Vector3Like> &v, const Eigen::MatrixBase<Matrix43Like> &Jexp)

Derivative of q=expv+δv where δv is a small perturbation of v at identity.

Returns:

The Jacobian of the quaternion components variation.