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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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