cayley.hpp File Reference

Functions for back-and-forth transformation between rotation matrices and Cayley-parameters. More...

#include <stdlib.h>
#include <opengv/types.hpp>

Go to the source code of this file.

Namespaces
	opengv
	The namespace of this library.
	opengv::math
	The namespace of the math tools.

Functions
rotation_t	opengv::math::cayley2rot (const cayley_t &cayley)
	Compute a rotation matrix from Cayley-parameters, following [14]. More...
rotation_t	opengv::math::cayley2rot_reduced (const cayley_t &cayley)
	Compute a fake rotation matrix from Cayley-parameters, following [14]. The rotation matrix is missing the scaling parameter of the Cayley-transform. This short form is useful for the Jacobian-based iterative rotation optimization of the eigensolver [11]. More...
cayley_t	opengv::math::rot2cayley (const rotation_t &R)
	Compute the Cayley-parameters of a rotation matrix, following [14]. More...

Detailed Description

Functions for back-and-forth transformation between rotation matrices and Cayley-parameters.