function

Vision.Registration.RegistrationWeighted.WeightedExp

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
input	`v`	`Real`	`[3]`
output	`result`	`Real`	`[3,3]`

Modelica declarations and implementation

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Parameters, inputs, outputs, defaults and equations from the source file.

function WeightedExp
    input Real v[3]; output Real result[3,3];
  protected
    Real square; Real angle; Real a; Real b; Real K[3,3];
  algorithm
    square := v*v; angle := sqrt(square);
    a := if square < 1e-8 then 1-square/6+square^2/120 else sin(angle)/angle;
    b := if square < 1e-8 then 0.5-square/24+square^2/720 else (1-cos(angle))/square;
    K := WeightedSkew(v); result := identity(3)+a*K+b*K*K;
  end WeightedExp;