api/fc/so3_8h_source.html

#ifndef SO3_H

#define SO3_H


#ifdef __cplusplus

extern "C" {

#endif


void  so3_skew(const float v[3], float S[9]);

void  so3_exp(const float phi[3], float R[9]);

void  so3_orthonormalize(float R[9]);

void  so3_to_quat(const float R[9], float q[4]);


void  mat3_mul(const float A[9], const float B[9], float C[9]);

void  mat3_vec(const float A[9], const float x[3], float y[3]);

void  mat3t_vec(const float A[9], const float x[3], float y[3]);

int   mat3_inv(const float A[9], float Ai[9]);

float vec3_norm(const float v[3]);

float vec3_dot(const float a[3], const float b[3]);

void  vec3_cross(const float a[3], const float b[3], float c[3]);

int   vec3_normalize(float v[3]);

#ifdef __cplusplus

}

#endif

#endif /* SO3_H */

B
static struct @10 B

b
double b[6]
Definition calib_mgr.c:53

A
static struct @7 A

C
static struct @11 C

mat3_inv
int mat3_inv(const float A[9], float Ai[9])
0 = OK
Definition so3.c:127

so3_exp
void so3_exp(const float phi[3], float R[9])
Definition so3.c:22

mat3_vec
void mat3_vec(const float A[9], const float x[3], float y[3])
y = A*x
Definition so3.c:113

so3_to_quat
void so3_to_quat(const float R[9], float q[4])
Definition so3.c:80

mat3t_vec
void mat3t_vec(const float A[9], const float x[3], float y[3])
y = A'*x
Definition so3.c:120

vec3_cross
void vec3_cross(const float a[3], const float b[3], float c[3])
Definition so3.c:49

vec3_norm
float vec3_norm(const float v[3])
Definition so3.c:47

mat3_mul
void mat3_mul(const float A[9], const float B[9], float C[9])
C = A*B
Definition so3.c:106

so3_orthonormalize
void so3_orthonormalize(float R[9])
Definition so3.c:65

vec3_dot
float vec3_dot(const float a[3], const float b[3])
Definition so3.c:46

vec3_normalize
int vec3_normalize(float v[3])
0 = OK
Definition so3.c:56

so3_skew
void so3_skew(const float v[3], float S[9])
Definition so3.c:15