se3.hpp File Reference

#include <Eigen/Core>
#include "pinocchio/spatial/se3.hpp"
#include "pinocchio/spatial/explog.hpp"

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Namespaces
namespace	robotoc

Typedefs
using	robotoc::SE3 = pinocchio::SE3
	Using pinocchio::SE3 without its namespace. More...

Functions
template<typename SE3Type >
const Eigen::Matrix< double, 6, 1 >	robotoc::Log6Map (const SE3Type &SE3_obj)
	Applies Log6 map that transforms the SE3 into 6-dimensional vector. More...
template<typename SE3Type , typename MatrixType >
void	robotoc::computeJLog6Map (const SE3Type &SE3_obj, const Eigen::MatrixBase< MatrixType > &J)
	Computes the Jacobian of the Log6 map. More...