boofcv.alg.geo

Class RodriguesRotationJacobian

java.lang.Object

boofcv.alg.geo.RodriguesRotationJacobian

public class RodriguesRotationJacobian
extends Object

Computes the rotation matrix derivative for Rodrigues coordinates which have been parameterized by a 3 vector. The rotation is equal to the vector's magnitude and the rotation vector is the unit vector.

Author:

Peter Abeles

Field Summary

Fields

Modifier and Type	Field and Description
org.ejml.data.DenseMatrix64F	Rx
org.ejml.data.DenseMatrix64F	Ry
org.ejml.data.DenseMatrix64F	Rz

Constructor Summary

Constructors

Constructor and Description
RodriguesRotationJacobian()

Method Summary

Methods

Modifier and Type	Method and Description
void	process(double x, double y, double z) Computes the Rodrigues coordinate Jacobian

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

Rx

public org.ejml.data.DenseMatrix64F Rx

Ry

public org.ejml.data.DenseMatrix64F Ry

Rz

public org.ejml.data.DenseMatrix64F Rz

Constructor Detail

RodriguesRotationJacobian

public RodriguesRotationJacobian()

Method Detail

process

public void process(double x,
           double y,
           double z)

Computes the Rodrigues coordinate Jacobian

Parameters:

x - x-component of Rodrigues parametrization.

y - y-component of Rodrigues parametrization.

z - z-component of Rodrigues parametrization.