V1 Readme + rangement

asift_gen/libNumerics/rodrigues.h

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