Documentation>C API
rodrigues.h File Reference

Rodrigues formulas. More...

#include "generic.h"

Functions

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

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_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).