### doc: improvement

parent b064cc01
 // // Copyright (c) 2016-2020 CNRS INRIA // Copyright (c) 2016-2021 CNRS INRIA // #ifndef __pinocchio_algorithm_joint_configuration_hpp__ ... ... @@ -350,6 +350,7 @@ namespace pinocchio * * @details This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \f$q \oplus v \f$, * to the tangent space at \f$q \f$. * It performs the product with the Jacobian of integrate by exploiting at best the sparsity of the underlying operations. * In other words, this functions transforms a tangent vector expressed at \f$q \oplus v \f$ to a tangent vector expressed at \f$q \f$, considering that the change of configuration between * \f$q \oplus v \f$ and \f$q \f$ may alter the value of this tangent vector. * A typical example of parallel transportation is the action operated by a rigid transformation \f$M \in \text{SE}(3)\f$ on a spatial velocity \f$v \in \text{se}(3)\f$. ... ... @@ -378,6 +379,7 @@ namespace pinocchio * * @details This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \f$q \oplus v \f$, * to the tangent space at \f$q \f$. * It performs the product with the Jacobian of integrate by exploiting at best the sparsity of the underlying operations. * In other words, this functions transforms a tangent vector expressed at \f$q \oplus v \f$ to a tangent vector expressed at \f$q \f$, considering that the change of configuration between * \f$q \oplus v \f$ and \f$q \f$ may alter the value of this tangent vector. * A typical example of parallel transportation is the action operated by a rigid transformation \f$M \in \text{SE}(3)\f$ on a spatial velocity \f$v \in \text{se}(3)\f$. ... ...
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