Drake
expmap2quatImplmex.cpp File Reference
#include <Eigen/Core>
#include "drake/math/autodiff.h"
#include "drake/math/expmap.h"
#include "drake/util/mexify.h"
#include "drake/util/standardMexConversions.h"
#include "drake/util/makeFunction.h"
#include "drake/core/Gradient.h"
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Functions

pair< Vector4d, typename Gradient< Vector4d, 3 >::type > expmap2quatWithGradient (const MatrixBase< Map< const Vector3d >> &expmap)
 
tuple< Vector4d, typename Gradient< Vector4d, 3 >::type, typename Gradient< Vector4d, 3, 2 >::type > expmap2quatWithSecondDeriv (const MatrixBase< Map< const Vector3d >> &expmap)
 
void mexFunction (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
 

Function Documentation

pair<Vector4d, typename Gradient<Vector4d, 3>::type> expmap2quatWithGradient ( const MatrixBase< Map< const Vector3d >> &  expmap)

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tuple<Vector4d, typename Gradient<Vector4d, 3>::type, typename Gradient<Vector4d, 3, 2>::type> expmap2quatWithSecondDeriv ( const MatrixBase< Map< const Vector3d >> &  expmap)

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void mexFunction ( int  nlhs,
mxArray *  plhs[],
int  nrhs,
const mxArray *  prhs[] 
)

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