/usr/include/x86_64-linux-gnu/visp3/core/vpExponentialMap.h is in libvisp-core-dev 3.0.0-4.
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*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2015 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
* ("GPL") version 2 as published by the Free Software Foundation.
* 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
*
*****************************************************************************/
/*!
\file vpExponentialMap.h
\brief Provides exponential map computation
*/
#ifndef vpExponentialMap_h
#define vpExponentialMap_h
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpColVector.h>
/*!
\class vpExponentialMap
\ingroup group_core_transformations
\brief Direct or inverse exponential map computation.
- The direct exponential map allows to determine a displacement from a
velocity vector applied during a sampling time. With direct() the sampling
time is set to 1 second. With direct(const vpColVector &, const float &)
the sampling time can be set to an other value.
- The inverse exponential map allows to compute a velocity vector from a
displacement measured during a time interval. With inverse() the time
interval also called sampling time is set to 1 second. With
inverse(const vpHomogeneousMatrix &, const float &) the sampling time
can be set to an other value.
The displacement is represented as an homogeneous matrix
(vpHomogeneousMatrix). Velocities are represented as a \f$ [{\bf t}, {\bf
\theta u} ]^t \f$ 6 dimension vector where \f$ t \f$ is a translation vector
(see vpTranslationVector) and \f$ \theta u \f$ a rotation vector (see
vpThetaUVector).
*/
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
/*
* Local variables:
* c-basic-offset: 2
* End:
*/
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