#include <boost/math/constants/constants.hpp>
#include <pinocchio/spatial/se3.hpp>
#include <hpp/constraints/fwd.hh>
Namespaces | |
hpp | |
hpp::constraints | |
Functions | |
template<typename VectorType , typename MatrixType > | |
static void | hpp::constraints::computeCrossMatrix (const VectorType &v, MatrixType &m) |
template<typename Derived > | |
void | hpp::constraints::logSO3 (const matrix3_t &R, value_type &theta, Eigen::MatrixBase< Derived > const &result) |
Compute log of rotation matrix as a 3d vector. More... | |
template<typename Derived > | |
void | hpp::constraints::JlogSO3 (const value_type &theta, const Eigen::MatrixBase< Derived > &log, matrix3_t &Jlog) |
Compute jacobian of function log of rotation matrix in SO(3) More... | |
template<typename Derived > | |
void | hpp::constraints::logSE3 (const Transform3f &M, Eigen::MatrixBase< Derived > &result) |
Compute log of rigid-body transform. More... | |
template<typename Derived > | |
void | hpp::constraints::JlogSE3 (const Transform3f &M, Eigen::MatrixBase< Derived > const &Jlog) |