标签：col matrix str div span func mat orm pre
The customized MATLAB function is to onvert a rotation vector to a rotation matrix.
function [rotation_matrix] = Rodrigues( rotation_vector ) % Convert a rotation vector to a rotation matrix. rotation_vector = rotation_vector‘; theta = norm(rotation_vector); rotation_vector = rotation_vector./theta; I = eye(3); tmp_matrix = [0 -rotation_vector(3) rotation_vector(2); ... rotation_vector(3) 0 -rotation_vector(1); ... -rotation_vector(2) rotation_vector(1) 0]; rotation_matrix = cos(theta) * I + (1 - cos(theta)) * ... (rotation_vector * rotation_vector‘) + sin(theta) * tmp_matrix; end
标签：col matrix str div span func mat orm pre
原文地址：https://www.cnblogs.com/weiyu-blog/p/10895868.html
