Template Function pinocchio::Jlog6(const SE3Tpl<Scalar, Options>&, const Eigen::MatrixBase<Matrix6Like>&)
Defined in File explog.hpp
Function Documentation
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template<typename Scalar, int Options, typename Matrix6Like>
void pinocchio::Jlog6(const SE3Tpl<Scalar, Options> &M, const Eigen::MatrixBase<Matrix6Like> &Jlog) Derivative of log6.
This function is the right derivative of log6, that is, for
and , it provides the linear approximation:Equivalently,
is the right Jacobian of :Note that this is the right Jacobian:
. (By convention, calculations in Pinocchio always perform right differentiation, i.e., Jacobians are in local coordinates (also known as body coordinates), unless otherwise specified.)Internally, it is calculated using the following formulas:
\cheatsheet For
, let and . Then, we have the following partial (right) Jacobians: , .
\cheatsheet Let
, and . Then, we have the following partial (right) Jacobian: .