vpExponentialMap.h

/****************************************************************************
 *
 * $Id: vpExponentialMap.h 4056 2013-01-05 13:04:42Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Exponential map.
 *
 * Authors:
 * Fabien Spindler
 * Francois Chaumette
 *
 *****************************************************************************/

#ifndef vpExponentialMap_h
#define vpExponentialMap_h

#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpColVector.h>

class VISP_EXPORT vpExponentialMap
{

public:
  static vpHomogeneousMatrix direct(const vpColVector &v);
  static vpHomogeneousMatrix direct(const vpColVector &v,
                    const double &delta_t);
  static vpColVector inverse(const vpHomogeneousMatrix &M);
  static vpColVector inverse(const vpHomogeneousMatrix &M,
                 const double &delta_t);

};
#endif


/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */