vnl_rotation_matrix.h Source File

00001 #ifndef vnl_rotation_matrix_h_
00002 #define vnl_rotation_matrix_h_
00003 // This is vxl/vnl/vnl_rotation_matrix.h
00004 
00005 //: 
00006 //  \file
00007 //  \brief Functions to compute the exponential of a skew 3x3 matrix [x].
00008 //  \author Unknown
00009 // The result is a (special) orthogonal 3x3 matrix which is a
00010 // rotation about the axis x, by an angle equal to ||x||.
00011 
00012 template <class T> class vnl_vector;
00013 template <class T> class vnl_matrix;
00014 //#include <vnl/vnl_vector.h>
00015 //#include <vnl/vnl_matrix.h>
00016 
00017 bool vnl_rotation_matrix(double const axis[3], double **R);
00018 bool vnl_rotation_matrix(double const axis[3], double *R0, double *R1, double *R2);
00019 bool vnl_rotation_matrix(double const axis[3], double R[3][3]);
00020 bool vnl_rotation_matrix(vnl_vector<double> const &axis, vnl_matrix<double> &R);
00021 
00022 vnl_matrix<double> vnl_rotation_matrix(vnl_vector<double> const &axis);
00023 
00024 #endif // vnl_rotation_matrix_h_