#include <Eigen/Geometry>
#include "pinocchio/math/sincos.hpp"
#include "pinocchio/spatial/motion.hpp"
#include "pinocchio/spatial/skew.hpp"
#include "pinocchio/spatial/se3.hpp"
Namespaces | |
namespace | se3 |
Functions | |
template<typename D > | |
Eigen::Matrix< typename D::Scalar, 3, 3, Eigen::internal::traits < D >::Options > | se3::exp3 (const Eigen::MatrixBase< D > &v) |
Exp: so3 -> SO3. | |
template<typename D > | |
Eigen::Matrix< typename D::Scalar, 3, 1, Eigen::internal::traits < D >::Options > | se3::log3 (const Eigen::MatrixBase< D > &R) |
Log: SO3 -> so3. | |
template<typename _Scalar , int _Options> | |
SE3Tpl< _Scalar, _Options > | se3::exp6 (const MotionTpl< _Scalar, _Options > &nu) |
Exp: se3 -> SE3. | |
template<typename D > | |
SE3Tpl< typename D::Scalar, Eigen::internal::traits< D > ::Options > | se3::exp6 (const Eigen::MatrixBase< D > &v) |
Exp: se3 -> SE3. | |
template<typename _Scalar , int _Options> | |
MotionTpl< _Scalar, _Options > | se3::log6 (const SE3Tpl< _Scalar, _Options > &M) |
Log: SE3 -> se3. | |
template<typename D > | |
MotionTpl< typename D::Scalar, Eigen::internal::traits< D > ::Options > | se3::log6 (const Eigen::MatrixBase< D > &M) |
Log: SE3 -> se3. |