file
SO3Dynamics.hNamespaces
- namespace BipedalLocomotion
- namespace BipedalLocomotion::ContinuousDynamicalSystem
Typedefs
- using SO3Dynamics = LieGroupDynamics<manif::SO3d>
- SO3Dynamics describes the dynamics of a SO(3).
Typedef documentation
using SO3Dynamics = LieGroupDynamics<manif::SO3d>
SO3Dynamics describes the dynamics of a SO(3).
In details, given an element of SO(3) and a vector of its Lie Algebra , SO3Dynamics implements
where with is the Tangent space of at .
The SO3Dynamics inherits from a generic DynamicalSystem where the State is described by a BipedalLocomotion::
Name | Type | Description |
---|---|---|
LieGroup | manif::SO3d | The rotation matrix |
The StateDerivative
is described by a BipedalLocomotion::
Name | Type | Description |
---|---|---|
Tangent | manif::SO3d::Tangent | Angular velocity in inertial frame |
The Input
is described by a BipedalLocomotion::
Name | Type | Description |
---|---|---|
Tangent | manif::SO3d::Tangent | Angular velocity in inertial frame |