/** @file rodrigues.h
 ** @brief Rodrigues formulas
 ** @author Andrea Vedaldi
 **/

/*
Copyright (C) 2007-13 Andrea Vedaldi and Brian Fulkerson.
All rights reserved.

This file is part of the VLFeat library and is made available under
the terms of the BSD license (see the COPYING file).
*/

/** @file rodrigues.h

@section rodrigues Rodrigues formulas

- Use ::vl_rodrigues to compute the Rodrigues formula and its derivative.
- Use ::vl_irodrigues to compute the inverse Rodrigues formula and
  its derivative.

**/

#ifndef VL_RODRIGUES
#define VL_RODRIGUES

#include "generic.h"

VL_EXPORT void vl_rodrigues  (double* R_pt,  double* dR_pt, const double* om_pt) ;
VL_EXPORT void vl_irodrigues (double* om_pt, double* dom_pt, const double* R_pt) ;

/* VL_RODRIGUES */
#endif