explog.hpp File Reference
#include <Eigen/Geometry>
#include "pinocchio/math/sincos.hpp"
#include "pinocchio/spatial/motion.hpp"
#include "pinocchio/spatial/skew.hpp"
#include "pinocchio/spatial/se3.hpp"
Include dependency graph for spatial/explog.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.