Functions
Matrix3d	rotz (double theta)
	Returns a 3D rotation matrix by `theta` about the z axis. More...

void	rotz (double theta, Matrix3d M, Matrix3d dM, Matrix3d *ddM)

DRAKEMATH_EXPORT void	rotz (double theta, Eigen::Matrix3d M, Eigen::Matrix3d dM, Eigen::Matrix3d *ddM)
	Computes a 3D rotation matrix by `theta` about the z axis. More...

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)

Function Documentation

Eigen::Matrix<typename Derived::Scalar, 4, 1> drake::math::internal::expmap2quatDegenerate	(	const Eigen::MatrixBase< Derived > &	v,
		typename Derived::Scalar &	theta_squared
	)

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Eigen::Matrix<typename Derived::Scalar, 4, 1> drake::math::internal::expmap2quatNonDegenerate	(	const Eigen::MatrixBase< Derived > &	v,
		typename Derived::Scalar &	theta_squared
	)

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DRAKEMATH_EXPORT Eigen::Matrix3d rotz ( double theta )

Returns a 3D rotation matrix by theta about the z axis.

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void drake::math::internal::rotz	(	double	theta,
		Matrix3d *	M,
		Matrix3d *	dM,
		Matrix3d *	ddM
	)

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DRAKEMATH_EXPORT void drake::math::internal::rotz	(	double	theta,
		Eigen::Matrix3d *	M,
		Eigen::Matrix3d *	dM,
		Eigen::Matrix3d *	ddM
	)

Computes a 3D rotation matrix by theta about the z axis.

Writes that matrix into M, its derivative into dM, and its second derivative into ddM.

Functions