Visual Servoing Platform
version 3.3.0
vpExponentialMap.h
1
/****************************************************************************
2
*
3
* ViSP, open source Visual Servoing Platform software.
4
* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5
*
6
* This software is free software; you can redistribute it and/or modify
7
* it under the terms of the GNU General Public License as published by
8
* the Free Software Foundation; either version 2 of the License, or
9
* (at your option) any later version.
10
* See the file LICENSE.txt at the root directory of this source
11
* distribution for additional information about the GNU GPL.
12
*
13
* For using ViSP with software that can not be combined with the GNU
14
* GPL, please contact Inria about acquiring a ViSP Professional
15
* Edition License.
16
*
17
* See http://visp.inria.fr for more information.
18
*
19
* This software was developed at:
20
* Inria Rennes - Bretagne Atlantique
21
* Campus Universitaire de Beaulieu
22
* 35042 Rennes Cedex
23
* France
24
*
25
* If you have questions regarding the use of this file, please contact
26
* Inria at visp@inria.fr
27
*
28
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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
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
vpExponentialMap
Direct or inverse exponential map computation.
Definition:
vpExponentialMap.h:94
vpColVector
Implementation of column vector and the associated operations.
Definition:
vpColVector.h:131
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition:
vpHomogeneousMatrix.h:150
modules
core
include
visp3
core
vpExponentialMap.h
Generated by
1.8.18