20 lines
565 B
Matlab
20 lines
565 B
Matlab
function R = cayley2rot(v)
|
|
|
|
cayley0 = v(1,1);
|
|
cayley1 = v(2,1);
|
|
cayley2 = v(3,1);
|
|
|
|
R = zeros(3,3);
|
|
scale = 1+cayley0^2+cayley1^2+cayley2^2;
|
|
|
|
R(1,1) = 1+cayley0^2-cayley1^2-cayley2^2;
|
|
R(1,2) = 2*(cayley0*cayley1-cayley2);
|
|
R(1,3) = 2*(cayley0*cayley2+cayley1);
|
|
R(2,1) = 2*(cayley0*cayley1+cayley2);
|
|
R(2,2) = 1-cayley0^2+cayley1^2-cayley2^2;
|
|
R(2,3) = 2*(cayley1*cayley2-cayley0);
|
|
R(3,1) = 2*(cayley0*cayley2-cayley1);
|
|
R(3,2) = 2*(cayley1*cayley2+cayley0);
|
|
R(3,3) = 1-cayley0^2-cayley1^2+cayley2^2;
|
|
|
|
R = (1/scale) * R; |