Home > General-Functions > Geometry > calc_Rot_r.m

calc_Rot_r

PURPOSE ^

% Cayley rotation matrix

SYNOPSIS ^

function R = calc_Rot_r(r)

DESCRIPTION ^

% Cayley rotation matrix
 R = (I-S_r)^-1*(I+S_r)
 see PCV (8.62)
 
 Usage:
   R = calc_Rot_r(r)
 
   r - double 3x1
   R - double 3x3, 3D rotation matrix (rotates by 2|r|)

 Wolfgang Förstner 10/2011
 wfoerstn@uni-bonn.de 

 See also calc_R_from_opq_kraus, calc_r_phi_from_R, calc_Rot_ab,
 calc_Rot_q, calc_Rot_rod, calc_Rot_rp, calc_Mq, calc_Mq_comm, calc_opq_from_R_Kraus

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %% Cayley rotation matrix
0002 % R = (I-S_r)^-1*(I+S_r)
0003 % see PCV (8.62)
0004 %
0005 % Usage:
0006 %   R = calc_Rot_r(r)
0007 %
0008 %   r - double 3x1
0009 %   R - double 3x3, 3D rotation matrix (rotates by 2|r|)
0010 %
0011 % Wolfgang Förstner 10/2011
0012 % wfoerstn@uni-bonn.de
0013 %
0014 % See also calc_R_from_opq_kraus, calc_r_phi_from_R, calc_Rot_ab,
0015 % calc_Rot_q, calc_Rot_rod, calc_Rot_rp, calc_Mq, calc_Mq_comm, calc_opq_from_R_Kraus
0016 
0017 function R = calc_Rot_r(r)
0018 
0019 R = inv(eye(3)-calc_S(r))*(eye(3)+calc_S(r));                               %#ok<MINV>

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