Visual Servoing Platform version 3.5.0
vpExponentialMap.h
1/****************************************************************************
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3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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6 * This software is free software; you can redistribute it and/or modify
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10 * See the file LICENSE.txt at the root directory of this source
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20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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
93class VISP_EXPORT vpExponentialMap
94{
95public:
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 column vector and the associated operations.
Definition: vpColVector.h:131
Direct or inverse exponential map computation.
Implementation of an homogeneous matrix and operations on such kind of matrices.