Template Function math3d::relative_motion

• Defined in File math3d.h

Function Documentation

template<typename T>
void math3d::relative_motion(const matrix3x3<T> &Ri, const point3d &Ti, const matrix3x3<T> &Rj, const point3d &Tj, matrix3x3<T> &Rij, point3d &Tij)

Computes the rigid motion bringing points expressed in j-coordinates towards the world i, i.e.: Pi = Rij * Pj + Tij