eigen_utils.h File Reference

#include <Eigen/Dense>
#include <Eigen/Geometry>
#include <iostream>

Go to the source code of this file.

Functions
template<class Derived >
Eigen::Matrix< typename Derived::Scalar, 3, 3 >	skew (const Eigen::MatrixBase< Derived > &vec)
	Returns the 3D cross product skew symmetric matrix of a given 3D vector.
template<class Derived >
Eigen::Matrix< typename Derived::Scalar, 4, 4 >	omegaMatJPL (const Eigen::MatrixBase< Derived > &vec)
	Returns a matrix with angular velocities used for quaternion derivatives/.
template<class Derived >
Eigen::Matrix< typename Derived::Scalar, 4, 4 >	omegaMatHamilton (const Eigen::MatrixBase< Derived > &vec)
	Returns a matrix with angular velocities used for quaternion derivatives/.
template<class Derived >
Eigen::Matrix< typename Derived::Scalar, 4, 3 >	xiMat (const Eigen::MatrixBase< Derived > &q_vec)
	Returns a matrix to compute error quaternions.
template<class Derived >
Eigen::Quaternion< typename Derived::Scalar >	quaternionFromSmallAngle (const Eigen::MatrixBase< Derived > &theta)
	Computes a quaternion from the 3-element small angle approximation theta.
template<class D >
bool	checkForNumeric (const Eigen::MatrixBase< D > &mat, const std::string &info)
	Debug output to check misbehavior of Eigen.

Function Documentation

template<class D >

bool checkForNumeric	(	const Eigen::MatrixBase< D > &	mat,
		const std::string &	info
	)

template<class Derived >

Eigen::Matrix<typename Derived::Scalar, 4, 4> omegaMatHamilton ( const Eigen::MatrixBase< Derived > &  vec )

inline

The quaternion to be multiplied with this matrix has to be in the order x y z w !!!

Parameters

vec	3D vector with angular velocities

Returns

4x4 Matrix for multiplication with the quaternion

template<class Derived >

Eigen::Matrix<typename Derived::Scalar, 4, 4> omegaMatJPL ( const Eigen::MatrixBase< Derived > &  vec )

inline

The quaternion to be multiplied with this matrix has to be in the order x y z w !!!

Parameters

vec	3D vector with angular velocities.

Returns

4x4 matrix for multiplication with the quaternion.

template<class Derived >

Eigen::Quaternion<typename Derived::Scalar> quaternionFromSmallAngle

(

const Eigen::MatrixBase< Derived > &

theta

)

template<class Derived >

Eigen::Matrix<typename Derived::Scalar, 3, 3> skew ( const Eigen::MatrixBase< Derived > &  vec )

inline

template<class Derived >

Eigen::Matrix<typename Derived::Scalar, 4, 3> xiMat ( const Eigen::MatrixBase< Derived > &  q_vec )

inline

Parameters

q_vec

4D vector containing the quaternion's coefficients in the order x y z w.

Returns

4x3 matrix for error quaternion computation

Xi = [ w*I + skew([x y z])]  ; dq = [ Xi q]^T * q
[     -[x y z]       ]