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[37] | 1 | % RODR Rodrigues' formula |
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| 2 | % R = RODR(OM) where OM a 3-dimensional column vector computes the |
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| 3 | % Rodrigues' formula of OM, returning the rotation matrix R = |
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| 4 | % expm(hat(OM)). |
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| 5 | % |
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| 6 | % [R,DR] = RODR(OM) 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(vec expm(hat(OM)) ) |
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| 10 | % dR = ----------------------. |
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| 11 | % d om^T |
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| 12 | % |
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| 13 | % [R,DR]=RODR(OM) when OM is a 3xK matrix repeats the operation for |
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| 14 | % each column (or equivalently matrix with 3*K elements). In this |
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| 15 | % case R and DR 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 IRODR(), PDF:RODRIGUES. |
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