Commit d92b3199 by Gabriele Buondonno

parent b0541daf
Pipeline #12433 passed with stage
in 128 minutes and 15 seconds
 ... ... @@ -9,8 +9,6 @@ #include "pinocchio/math/comparison-operators.hpp" #include "pinocchio/multibody/fwd.hpp" #include namespace pinocchio { namespace rpy ... ... @@ -23,10 +21,10 @@ namespace pinocchio /// around axis \f$\alpha\f$. /// template inline Eigen::Matrix rpyToMatrix(const Scalar r, const Scalar p, const Scalar y); Eigen::Matrix rpyToMatrix(const Scalar& r, const Scalar& p, const Scalar& y); /// /// \brief Convert from Roll, Pitch, Yaw to rotation Matrix ... ... @@ -36,7 +34,7 @@ namespace pinocchio /// around axis \f$\alpha\f$. /// template inline Eigen::Matrix Eigen::Matrix rpyToMatrix(const Eigen::MatrixBase & rpy); /// ... ... @@ -53,7 +51,7 @@ namespace pinocchio /// \warning the method assumes \f$R\f$ is a rotation matrix. If it is not, the result is undefined. /// template inline Eigen::Matrix Eigen::Matrix matrixToRpy(const Eigen::MatrixBase & R); /// ... ... @@ -72,8 +70,8 @@ namespace pinocchio /// \note for the purpose of this function, WORLD and LOCAL_WORLD_ALIGNED are equivalent /// template inline Eigen::Matrix rpyToJac(const Eigen::MatrixBase & rpy, const ReferenceFrame rf=LOCAL); Eigen::Matrix computeRpyJacobian(const Eigen::MatrixBase & rpy, const ReferenceFrame rf=LOCAL); /// /// \brief Compute the inverse Jacobian of the Roll-Pitch-Yaw conversion ... ... @@ -91,8 +89,8 @@ namespace pinocchio /// \note for the purpose of this function, WORLD and LOCAL_WORLD_ALIGNED are equivalent /// template inline Eigen::Matrix rpyToJacInv(const Eigen::MatrixBase & rpy, const ReferenceFrame rf=LOCAL); Eigen::Matrix computeRpyJacobianInverse(const Eigen::MatrixBase & rpy, const ReferenceFrame rf=LOCAL); /// /// \brief Compute the time derivative Jacobian of the Roll-Pitch-Yaw conversion ... ... @@ -111,8 +109,8 @@ namespace pinocchio /// \note for the purpose of this function, WORLD and LOCAL_WORLD_ALIGNED are equivalent /// template inline Eigen::Matrix rpyToJacDerivative(const Eigen::MatrixBase & rpy, const Eigen::MatrixBase & rpydot, const ReferenceFrame rf=LOCAL); Eigen::Matrix computeRpyJacobianTimeDerivative(const Eigen::MatrixBase & rpy, const Eigen::MatrixBase & rpydot, const ReferenceFrame rf=LOCAL); } // namespace rpy } ... ...