Template Function pinocchio::quaternion::Jexp3CoeffWise
Defined in File explog-quaternion.hpp
Function Documentation
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template<typename Vector3Like, typename Matrix43Like>
void pinocchio::quaternion::Jexp3CoeffWise(const Eigen::MatrixBase<Vector3Like> &v, const Eigen::MatrixBase<Matrix43Like> &Jexp) Derivative of
where is a small perturbation of at identity.- Returns:
The Jacobian of the quaternion components variation.