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# rodrigues.h File Reference

Rodrigues formulas. More...

Go to the source code of this file.

## 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

## 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.

## 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 |
| ) |  |  |

file: rodirgues.c author: Andrea Vedaldi description: Rodrigues formulas

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).