gradient of an SO3FunCBF
Description
general formula:
\[s(g1_i) = sum_j c_j DRK(h_j,r_j) g h_j x r_j \]
Syntax
G = SO3F.grad % compute the gradient
g = SO3F.grad(rot) % evaluate the gradient in rot% go 5 degree in direction of the gradient
ori_new = exp(rot,5*degree*normalize(g))Input
| SO3F | SO3FunCBF |
| rot | rotation / orientation |
Output
| G | SO3VectorField |
| g | vector3d |
See also
orientation.exp SO3FunHarmonic.grad SO3FunRBF.grad SO3VectorField