Class Utility

Defined in File utility.h

Nested Relationships

Nested Types

Template Struct Utility::uint_

Class Documentation

class Utility

Public Functions

template<size_t N, typename Lambda, typename IterT> inline void unroller(const Lambda &f, const IterT &iter, uint_<N>)

template<typename Lambda, typename IterT> inline void unroller(const Lambda &f, const IterT &iter, uint_<0>)

Public Static Functions

template<typename Derived> static inline Eigen::Quaternion<typename Derived::Scalar> deltaQ(const Eigen::MatrixBase<Derived> &theta)

template<typename Derived> static inline Eigen::Matrix<typename Derived::Scalar, 3, 3> skewSymmetric(const Eigen::MatrixBase<Derived> &q)

template<typename Derived> static inline Eigen::Quaternion<typename Derived::Scalar> positify(const Eigen::QuaternionBase<Derived> &q)

template<typename Derived> static inline Eigen::Matrix<typename Derived::Scalar, 4, 4> Qleft(const Eigen::QuaternionBase<Derived> &q)

template<typename Derived> static inline Eigen::Matrix<typename Derived::Scalar, 4, 4> Qright(const Eigen::QuaternionBase<Derived> &p)

static inline Eigen::Vector3d R2ypr(const Eigen::Matrix3d &R)

template<typename Derived> static inline Eigen::Matrix<typename Derived::Scalar, 3, 3> ypr2R(const Eigen::MatrixBase<Derived> &ypr)

static Eigen::Matrix3d g2R(const Eigen::Vector3d &g)

template<typename T> static inline T normalizeAngle(const T &angle_degrees)

template<size_t N> struct uint_