Documentation - C API
rodrigues.c File Reference

Rodrigues formulas - Definition. More...

#include "generic.h"
#include "mathop.h"
#include "rodrigues.h"
#include <math.h>

Functions

void vl_rodrigues (double *R_pt, double *dR_pt, const double *om_pt)
 Rodrigues' formula.
void vl_irodrigues (double *om_pt, double *dom_pt, const double *R_pt)
 Inverse Rodrigues formula.

Detailed Description

Author:
Andrea Vedaldi

Function Documentation

void vl_irodrigues ( double *  om_pt,
double *  dom_pt,
const double *  R_pt 
)
Parameters:
om_pt3 vector - array of 3 dobule (out).
dom_pt3x9 matrix - array of 3x9 dobule (out).
R_pt3x3 matrix - array of 9 double (in).

This function computes the Rodrigues formula of the argument om_pt. The result is stored int the matrix R_pt. If dR_pt is non null, then the derivative of the Rodrigues formula is computed and stored into the matrix dR_pt.

void vl_rodrigues ( double *  R_pt,
double *  dR_pt,
const double *  om_pt 
)
Parameters:
R_pt3x3 matrix - array of 9 double (in) .
dR_pt9x3 matrix - array of 27 double (in).
om_pt3 vector - array of 3 dobule (out).