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Commit 776c3d98 authored by Idril-Tadzio Geer Cousté's avatar Idril-Tadzio Geer Cousté
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added skew() function

parent 43a4e3e8
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    include/core/math/SE2.h
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    ...@@ -36,6 +36,12 @@ inline Eigen::Matrix<T, 2, 2> exp(const T theta) ...@@ -36,6 +36,12 @@ inline Eigen::Matrix<T, 2, 2> exp(const T theta)
    namespace SE2{ namespace SE2{
    template<class T>
    inline Eigen::Matrix<T, 2, 2> skew(const T& t)
    {
    return (Eigen::Matrix<T, 2, 2>() << (T) 0, -t, t, (T) 0).finished();
    }
    /** \brief Compute [1]_x * t = (-t.y ; t.x) /** \brief Compute [1]_x * t = (-t.y ; t.x)
    */ */
    template<class D> template<class D>
    ......
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