fmatvec 0.0.0

Public Types | List of all members
fmatvec::Der< Matrix< Rotation, Fixed< 3 >, Fixed< 3 >, double >, double > Struct Template Reference

`#include <function.h>`

## Public Types

using | type = Vector< Fixed< 3 >, double >

## Detailed Description

### template<>
struct fmatvec::Der< Matrix< Rotation, Fixed< 3 >, Fixed< 3 >, double >, double >

Defines the type of the derivative of a rotation matrix with respect to a scalar as vector. The partial derivative operator \( \texttt{parDer}_x(\boldsymbol{R}_{12}) \) of a rotation matrix \( \boldsymbol{R}_{12} \) with respect to a scalar \( x \) in defined by the Function class (member functions parDerX) as follows:

\[ \texttt{parDer}_x(\boldsymbol{R}_{12}) = \widetilde{\left(\frac{\partial\boldsymbol{R}_{12}}{\partial x}\boldsymbol{R}^T_{12}\right)} \in \mathbb{R}^{3\times 1} \]

where the "inverse tilde" operator ( \( \widetilde{o} \)) transform a skew symmetric matrix to a vector. This class spezialization define the type of \( \texttt{parDer}_x \).

The documentation for this struct was generated from the following file:

- /mbsim-env/fmatvec/fmatvec/function.h