26 #ifndef __RParametrization_hh__
27 #define __RParametrization_hh__
29 #include <bias_config.h>
31 #include <Base/Math/Vector.hh>
32 #include <Base/Math/Matrix.hh>
33 #include <Base/Geometry/Quaternion.hh>
34 #include <Geometry/RMatrix.hh>
66 { Set(Qvec); SetCovarianceMatrix(Cov); }
87 bool Load(
const std::string& file);
89 bool Save(
const std::string& file)
const;
const Vector< Q_TYPE > & GetVec() const
returns a vector of dimension 6 where first 2 entries are the epipole and the last 4 entries are the ...
const Matrix< Q_TYPE > & GetCovarianceMatrix() const
returns the covariance matrix associated with the EQ vector
Slim class bundeling rotation matrix parametrization and associated covariance matrix.
void Set(const Vector< Q_TYPE > &Qvec, const Matrix< Q_TYPE > &Cov)
Set this from orientation and covariance.
std::ostream & operator<<(std::ostream &os, const Array2D< T > &arg)
Implements a 3D rotation matrix.
class for rotation with axis and angle
BIASCommon_EXPORT std::istream & operator>>(std::istream &is, BIAS::TimeStamp &ts)
Standard input operator for TimeStamps.