rodrigues.c File Reference

Rodrigues formulas - Definition. More...

#include "generic.h"
#include "mathop.h"
#include "rodrigues.h"
#include <math.h>

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Defines
#define	DOM(i, j)   dom_pt[(i)+3*(j)]
#define	DR(i, j)   dR_pt[(i)+9*(j)]
#define	OM(i)   om_pt[(i)]
#define	OM(i)   om_pt[(i)]
#define	R(i, j)   R_pt[(i)+3*(j)]
#define	R(i, j)   R_pt[(i)+3*(j)]
#define	W(i, j)   W_pt[(i)+3*(j)]
Functions
VL_EXPORT void	vl_irodrigues (double *om_pt, double *dom_pt, const double *R_pt)
	Inverse Rodrigues formula.
void	vl_rodrigues (double *R_pt, double *dR_pt, const double *om_pt)
	Rodrigues' formula.

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Detailed Description

Rodrigues formulas - Definition.

Author:

Andrea Vedaldi

Definition in file rodrigues.c.

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Define Documentation

#define DOM	(		i,
			j
	)		dom_pt[(i)+3*(j)]

#define DR	(		i,
			j
	)		dR_pt[(i)+9*(j)]

#define OM

(

i

)

om_pt[(i)]

#define OM

(

i

)

om_pt[(i)]

#define R	(		i,
			j
	)		R_pt[(i)+3*(j)]

#define R	(		i,
			j
	)		R_pt[(i)+3*(j)]

#define W	(		i,
			j
	)		W_pt[(i)+3*(j)]

---

Function Documentation

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

Inverse Rodrigues formula.

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.

Definition at line 179 of file rodrigues.c.

void vl_rodrigues	(	double *	R_pt,
		double *	dR_pt,
		const double *	om_pt
	)

Rodrigues' formula.

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).

Definition at line 27 of file rodrigues.c.