Visual Servoing Platform  version 3.0.0
vpExponentialMap.h
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2015 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU General Public License
8  * ("GPL") version 2 as published by the Free Software Foundation.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See http://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Exponential map.
32  *
33  * Authors:
34  * Fabien Spindler
35  * Francois Chaumette
36  *
37  *****************************************************************************/
38 
46 #ifndef vpExponentialMap_h
47 #define vpExponentialMap_h
48 
49 #include <visp3/core/vpHomogeneousMatrix.h>
50 #include <visp3/core/vpColVector.h>
51 
77 class VISP_EXPORT vpExponentialMap
78 {
79 
80 public:
81  static vpHomogeneousMatrix direct(const vpColVector &v);
82  static vpHomogeneousMatrix direct(const vpColVector &v,
83  const double &delta_t);
84  static vpColVector inverse(const vpHomogeneousMatrix &M);
85  static vpColVector inverse(const vpHomogeneousMatrix &M,
86  const double &delta_t);
87 
88 };
89 #endif
90 
91 
92 /*
93  * Local variables:
94  * c-basic-offset: 2
95  * End:
96  */
Implementation of an homogeneous matrix and operations on such kind of matrices.
Direct or inverse exponential map computation.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72