Template Function pinocchio::log6(const SE3Tpl<Scalar, Options>&)

Function Documentation

template<typename Scalar, int Options>
MotionTpl<Scalar, Options> pinocchio::log6(const SE3Tpl<Scalar, Options> &M)

Log: SE3 -> se3.

Pseudo-inverse of exp from SE3v,ωse(3),||ω||<2π.

Parameters:

M[in] The rigid transformation.

Returns:

The twist associated to the rigid transformation during time 1.