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.

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Detailed Description

Author:

Andrea Vedaldi

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Function Documentation

void vl_irodrigues	(	double *	om_pt,
		double *	dom_pt,
		const double *	R_pt
	)

Parameters:

om_pt	3 vector - array of 3 dobule (out).
dom_pt	3x9 matrix - array of 3x9 dobule (out).
R_pt	3x3 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_pt	3x3 matrix - array of 9 double (in) .
dR_pt	9x3 matrix - array of 27 double (in).
om_pt	3 vector - array of 3 dobule (out).