12 lines
176 B
Matlab
12 lines
176 B
Matlab
function v = rot2cayley(R)
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C1 = R-eye(3);
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C2 = R+eye(3);
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C = C1 * inv(C2);
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v = zeros(3,1);
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v(1,1) = -C(2,3);
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v(2,1) = C(1,3);
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v(3,1) = -C(1,2);
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end |