matrix_utils.hpp File Reference

Miscellaneous math functions. More...

#include <iostream>
#include <Eigen/Dense>
#include <Eigen/Eigenvalues>
#include "common_types.hpp"

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Functions
Matrix3	hat (const Vector3 v)
Vector3	vee (const Matrix3 V)
void	saturate (Vector3 &x, const double x_min, const double x_max)
void	deriv_unit_vector (const Vector3 &A, const Vector3 &A_dot, const Vector3 &A_ddot, Vector3 &q, Vector3 &q_dot, Vector3 &q_ddot)

Detailed Description

Miscellaneous math functions.

Miscellaneous math functions used in FDCL are defined here

Function Documentation

Matrix3 hat

(

const Vector3

v

)

Returns the hat map of a given 3x1 vector. This is the inverse of vee map.

Parameters

v	vector which the hat map is needed to be operated on

Returns

hat map of the input vector

void saturate	(	Vector3 &	x,
		const double	x_min,
		const double	x_max
	)

Saturate the elements of a given 3x1 vector between a minimum and a maximum value.

Parameters

x	vector which the elements needed to be saturated
x_min	minimum value for each element
x_max	maximum value for each element

Vector3 vee

(

const Matrix3

V

)

Returns the vee map of a given 3x3 matrix. This is the inverse of hat map.

Parameters

V	matrix which the vee map is needed to be operated on

Returns

vee map of the input matrix