Kindr
Kinematics and Dynamics for Robotics
LinearAlgebra.hpp File Reference
#include <Eigen/SVD>
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Namespaces

 kindr
 

Functions

template<typename PrimType_ >
static Eigen::Matrix< PrimType_, 3, 3 > kindr::getSkewMatrixFromVector (const Eigen::Matrix< PrimType_, 3, 1 > &vec)
 Gets a skew-symmetric matrix from a (column) vector. More...
 
template<typename PrimType_ >
static Eigen::Matrix< PrimType_, 3, 1 > kindr::getVectorFromSkewMatrix (const Eigen::Matrix< PrimType_, 3, 3 > &matrix)
 Gets a 3x1 vector from a skew-symmetric matrix. More...
 
template<typename _Matrix_TypeA_ , typename _Matrix_TypeB_ >
static bool kindr::pseudoInverse (const _Matrix_TypeA_ &a, _Matrix_TypeB_ &result, double epsilon=std::numeric_limits< typename _Matrix_TypeA_::Scalar >::epsilon())
 Computes the Moore–Penrose pseudoinverse info: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=257. More...