ViSP  2.9.0
vpExponentialMap.h
1 /****************************************************************************
2  *
3  * $Id: vpExponentialMap.h 4574 2014-01-09 08:48:51Z fspindle $
4  *
5  * This file is part of the ViSP software.
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11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
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29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Exponential map.
36  *
37  * Authors:
38  * Fabien Spindler
39  * Francois Chaumette
40  *
41  *****************************************************************************/
42 
50 #ifndef vpExponentialMap_h
51 #define vpExponentialMap_h
52 
53 #include <visp/vpHomogeneousMatrix.h>
54 #include <visp/vpColVector.h>
55 
81 class VISP_EXPORT vpExponentialMap
82 {
83 
84 public:
85  static vpHomogeneousMatrix direct(const vpColVector &v);
86  static vpHomogeneousMatrix direct(const vpColVector &v,
87  const double &delta_t);
88  static vpColVector inverse(const vpHomogeneousMatrix &M);
89  static vpColVector inverse(const vpHomogeneousMatrix &M,
90  const double &delta_t);
91 
92 };
93 #endif
94 
95 
96 /*
97  * Local variables:
98  * c-basic-offset: 2
99  * End:
100  */
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
Direct or inverse exponential map computation.
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Definition: vpColVector.h:72