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Ivan
2022-04-05 11:42:28 +03:00
commit 6dc0eb0fcf
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26
thirdparty/opengv/matlab/helpers/generateBoundedR.m vendored Normal file
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function R = generateBoundedR( bound )
rpy = bound*2.0*(rand(3,1)-repmat(0.5,3,1));
R1 = zeros(3,3);
R1(1,1) = 1.0;
R1(2,2) = cos(rpy(1,1));
R1(2,3) = -sin(rpy(1,1));
R1(3,2) = -R1(2,3);
R1(3,3) = R1(2,2);
R2 = zeros(3,3);
R2(1,1) = cos(rpy(2,1));
R2(1,3) = sin(rpy(2,1));
R2(2,2) = 1.0;
R2(3,1) = -R2(1,3);
R2(3,3) = R2(1,1);
R3 = zeros(3,3);
R3(1,1) = cos(rpy(3,1));
R3(1,2) = -sin(rpy(3,1));
R3(2,1) =-R3(1,2);
R3(2,2) = R3(1,1);
R3(3,3) = 1.0;
R = R3 * R2 * R1;
end