Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, Vector3Like ::Options > computeRpyJacobianInverse(const Eigen::MatrixBase< Vector3Like > &rpy, const ReferenceFrame rf=LOCAL)
Compute the inverse Jacobian of the Roll-Pitch-Yaw conversion.
ReferenceFrame
List of Reference Frames supported by Pinocchio.
Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, Matrix3Like ::Options > matrixToRpy(const Eigen::MatrixBase< Matrix3Like > &R)
Convert from Transformation Matrix to Roll, Pitch, Yaw.
Eigen::Matrix< Scalar, 3, 3 > rpyToMatrix(const Scalar &r, const Scalar &p, const Scalar &y)
Convert from Roll, Pitch, Yaw to rotation Matrix.
Eigen::Matrix< typename Vector3Like0::Scalar, 3, 3, Vector3Like0 ::Options > computeRpyJacobianTimeDerivative(const Eigen::MatrixBase< Vector3Like0 > &rpy, const Eigen::MatrixBase< Vector3Like1 > &rpydot, const ReferenceFrame rf=LOCAL)
Compute the time derivative Jacobian of the Roll-Pitch-Yaw conversion.
@ LOCAL
The LOCAL frame convention corresponds to the frame directly attached to the moving part (Joint,...
Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, Vector3Like ::Options > computeRpyJacobian(const Eigen::MatrixBase< Vector3Like > &rpy, const ReferenceFrame rf=LOCAL)
Compute the Jacobian of the Roll-Pitch-Yaw conversion.