From 776c3d98b1c7352f6543e988a1050f090b8140f3 Mon Sep 17 00:00:00 2001
From: Idril Geer <igeer@iri.upc.edu>
Date: Mon, 21 Dec 2020 17:46:22 +0100
Subject: [PATCH] added skew() function
---
include/core/math/SE2.h | 6 ++++++
1 file changed, 6 insertions(+)
diff --git a/include/core/math/SE2.h b/include/core/math/SE2.h
index a051a63e3..ffd8ac872 100644
--- a/include/core/math/SE2.h
+++ b/include/core/math/SE2.h
@@ -36,6 +36,12 @@ inline Eigen::Matrix<T, 2, 2> exp(const T theta)
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)
*/
template<class D>
--
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