Template Function pinocchio::orthonormalisation
Defined in File gram-schmidt-orthonormalisation.hpp
Function Documentation
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template<typename MatrixType, typename VectorType>
void pinocchio::orthonormalisation(const Eigen::MatrixBase<MatrixType> &basis, const Eigen::MatrixBase<VectorType> &vec_) Perform the Gram-Schmidt orthonormalisation on the input/output vector for a given input basis.
- Parameters:
basis – [in] Orthonormal basis
vec – [inout] Vector to orthonomarlize wrt the input basis