Visual Servoing Platform  version 3.3.1 under development (2020-02-22)
vpExponentialMap.h
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30  *
31  * Description:
32  * Exponential map.
33  *
34  * Authors:
35  * Fabien Spindler
36  * Francois Chaumette
37  *
38  *****************************************************************************/
39 
45 #ifndef vpExponentialMap_h
46 #define vpExponentialMap_h
47 
48 #include <visp3/core/vpColVector.h>
49 #include <visp3/core/vpHomogeneousMatrix.h>
50 
93 class VISP_EXPORT vpExponentialMap
94 {
95 public:
96  static vpHomogeneousMatrix direct(const vpColVector &v);
97  static vpHomogeneousMatrix direct(const vpColVector &v, const double &delta_t);
98  static vpColVector inverse(const vpHomogeneousMatrix &M);
99  static vpColVector inverse(const vpHomogeneousMatrix &M, const double &delta_t);
100 };
101 #endif
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:130