normalize_vector.h File Reference

#include <Eigen/Dense>
#include "drake/math/gradient.h"
#include "drake/math/gradient_util.h"

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Namespaces
namespace	drake
namespace	drake::math

Functions
template<typename Derived>
void	NormalizeVector (const Eigen::MatrixBase< Derived > &x, typename Derived::PlainObject &x_norm, typename drake::math::Gradient< Derived, Derived::RowsAtCompileTime, 1 >::type *dx_norm=nullptr, typename drake::math::Gradient< Derived, Derived::RowsAtCompileTime, 2 >::type *ddx_norm=nullptr)
	Computes the normalized vector, optionally with its gradient and second derivative.