#include <boost/math/constants/constants.hpp>
#include <pinocchio/spatial/se3.hpp>
#include <hpp/constraints/fwd.hh>

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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)

template<typename Derived1 , typename Derived2 >
void	hpp::constraints::matrixToQuat (const Eigen::MatrixBase< Derived1 > &M, Eigen::MatrixBase< Derived2 > const &q)

template<typename Derived >
void	hpp::constraints::se3ToConfig (const Transform3f &M, Eigen::MatrixBase< Derived > const &q)

Namespaces

Functions