Rotation_Matrix_Exp​_Log

版本 1.0.0 (7.7 KB) 作者: HS Ding
Matrix Exponential and Log for Rotation Matrix
0.0
(0)
15.0 次下载
更新时间 2024/5/29

查看许可证

Solve SO3 to so3 and so3 to SO3.
There is build-in function expm and logm, but they both do not support vectorize calculation.
My function will increase calculation speed.
Also, logm can not deal with theta = -pi or pi.
Detail see examples: demo_ExpRot_ExpRotInv.mlx
Core Function:
% so3 to SO3
R = ExpRot2(xi);
% SO3 to so3
xi = ExpRotInv(R);
[w,theta] = ExpRotInv(R);

引用格式

HS Ding (2025). Rotation_Matrix_Exp_Log (https://ww2.mathworks.cn/matlabcentral/fileexchange/166986-rotation_matrix_exp_log), MATLAB Central File Exchange. 检索时间: .

MATLAB 版本兼容性
创建方式 R2024a
兼容任何版本
平台兼容性
Windows macOS Linux
标签 添加标签

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

版本 已发布 发行说明
1.0.0