vpExponentialMap.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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 <visp3/core/vpColVector.h>
#include <visp3/core/vpHomogeneousMatrix.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