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Eigen::Matrix3d | momentumopt::skewMatrix (const Eigen::Vector3d &vec) |
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Eigen::Vector3d | momentumopt::logarithmicMap (const Eigen::Quaternion< double > &quaternion) |
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Eigen::Quaternion< double > | momentumopt::exponentialMap (const Eigen::Vector3d &rotation_vector) |
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Eigen::Matrix4d | momentumopt::toQuaternionMatrix (const Eigen::Quaternion< double > &quaternion, bool is_conjugate) |
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Eigen::Matrix< double, 4, 3 > | momentumopt::jacobianQuaternionWrtRotationVector (const Eigen::Vector3d &rotation_vector) |
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Eigen::Matrix3d | momentumopt::jacobianAngularVelocityWrtRotationVector (const Eigen::Vector3d &rotation_vector) |
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Eigen::Vector3d | momentumopt::toAngularVelocity (const Eigen::Vector3d &rotation_vector, const Eigen::Vector3d &rotation_vector_rates, bool in_body_coordinates) |
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Eigen::Vector3d | momentumopt::fromAngularVelocity (const Eigen::Vector3d &rotation_vector, const Eigen::Vector3d &angular_velocity, bool in_body_coordinates) |
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| Eigen::Vector3d | momentumopt::requiredAngularVelocity (const Eigen::Quaternion< double > &desired_orientation, const Eigen::Quaternion< double > ¤t_orientation, const double &time_step, bool in_body_coordinates=false) |
| | computation of the required angular velocity to move from a current orientation to a desired orientation in a given time interval. More...
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Eigen::Quaternion< double > | momentumopt::integrateAngularVelocity (const Eigen::Quaternion< double > ¤t_orientation, const Eigen::Vector3d &angular_velocity, const double &time_step, bool in_body_coordinates=false) |
| | integration of a quaternion given an angular velocity given either in body or world coordinates and a time interval for integration
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Eigen::Vector3d | momentumopt::orientationError (const Eigen::Quaternion< double > &desired_orientation, const Eigen::Quaternion< double > ¤t_orientation) |
| | computes the error between two quaternions by rotating the desired orientation back by the current orientation, and taking the logarithm of the result.
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1.8.11