expmap.h File Reference

Utilities for arithmetic on exponential maps. More...

#include <cmath>
#include <Eigen/Dense>
#include "drake/common/drake_assert.h"
#include "drake/math/autodiff.h"

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Namespaces
	drake
	drake::math
	drake::math::internal

Functions
template<typename Derived >
Eigen::Matrix< typename Derived::Scalar, 4, 1 >	expmap2quatNonDegenerate (const Eigen::MatrixBase< Derived > &v, typename Derived::Scalar &theta_squared)
template<typename Derived >
Eigen::Matrix< typename Derived::Scalar, 4, 1 >	expmap2quatDegenerate (const Eigen::MatrixBase< Derived > &v, typename Derived::Scalar &theta_squared)
template<typename Derived >
Eigen::Matrix< typename Derived::Scalar, 4, 1 >	expmap2quat (const Eigen::MatrixBase< Derived > &v)
template<typename DerivedQ >
Eigen::Matrix< typename DerivedQ::Scalar, 3, 1 >	quat2expmap (const Eigen::MatrixBase< DerivedQ > &q)
template<typename Derived1 , typename Derived2 >
Eigen::Matrix< typename Derived1::Scalar, 3, 1 >	closestExpmap (const Eigen::MatrixBase< Derived1 > &expmap1, const Eigen::MatrixBase< Derived2 > &expmap2)
template<typename DerivedQ , typename DerivedE >
void	quat2expmapSequence (const Eigen::MatrixBase< DerivedQ > &quat, const Eigen::MatrixBase< DerivedQ > &quat_dot, Eigen::MatrixBase< DerivedE > &expmap, Eigen::MatrixBase< DerivedE > &expmap_dot)

Detailed Description

Utilities for arithmetic on exponential maps.