Home > toolbox > geometry > rodrigues.m

rodrigues

PURPOSE ^

SYNOPSIS ^

function [out,dout]=rodrigues(in)

DESCRIPTION ^

 RODRIGUES        Transform rotation matrix into rotation vector.
        
            Syntax:  [out,d_out_d_in]=RODRIGUES(in)
             If IN is a 3x3 rotation matrix then OUT is the
            corresponding 3x1 rotation vector

             if IN is a rotation 3-vector then OUT is the 
            corresponding 3x3 rotation matrix

    d_out_d_in is the derivative of the output wrt the input


            Makes use of the following subroutines:

                -> ~/src/matlab/detensor.m
                -> ~/src/matlab/dABdA.m
                -> ~/src/matlab/dABdB.m

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:
Generated on Tue 24-Nov-2009 02:34:47 by m2html © 2003