rodrigues.h File Reference

Rodrigues formulas. More...

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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

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.

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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
	)

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).

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