25 lines
668 B
C
25 lines
668 B
C
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// Authors: Unknown. Please, if you are the author of this file, or if you
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// know who are the authors of this file, let us know, so we can give the
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// adequate credits and/or get the adequate authorizations.
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#ifndef RODRIGUES_H
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#define RODRIGUES_H
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#include "matrix.h"
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#include <math.h>
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namespace libNumerics {
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/// Skew-symmetric matrix of 3-vector v.
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template <class T> matrix<T> skew(const vector<T>& v);
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/// Rodrigues's rotation: exp(w_x).
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template <class T> matrix<T> rotation(vector<T> w);
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/// Inverse Rodrigues's formula: w s.t. R=exp(w_x).
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template <class T> vector<T> rotationAxis(const matrix<T>& R);
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} // libNumerics
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#include "rodrigues.cpp"
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#endif
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