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[37] | 1 | % IRODR Inverse Rodrigues' formula |
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| 2 | % OM = IRODR(R) where R is a rotation matrix computes the the |
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| 3 | % inverse Rodrigues' formula of om, returning the rotation matrix R |
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| 4 | % = dehat(Logm(OM)). |
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| 5 | % |
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| 6 | % [OM,DOM] = IRODR(R) computes also the derivative of the Rodrigues' |
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| 7 | % formula. In matrix notation this is the expression |
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| 8 | % |
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| 9 | % d( dehat logm(hat(R)) ) |
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| 10 | % dom = ----------------------. |
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| 11 | % d(vec R)^T |
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| 12 | % |
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| 13 | % [OM,DOM] = IRODR(R) when R is a 9xK matrix repeats the operation |
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| 14 | % for each column (or equivalently matrix with 9*K elements). In |
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| 15 | % this case OM and DOM are arrays with K slices, one per rotation. |
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| 16 | % |
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| 17 | % COMPATIBILITY. Some code uses the RODRIGUES() function. This |
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| 18 | % function is very similar, except for the format of the derivative, |
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| 19 | % which differs by a permutation of the elements. |
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| 20 | % |
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| 21 | % See also RODR(). |
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