axisAngleRep {manifold}

Returns the angle representation of SO(3) matrices c.f. https://en.wikipedia.org/wiki/Axis-angle_representation

Description

Returns the angle representation of SO(3) matrices c.f. https://en.wikipedia.org/wiki/Axis-angle_representation

Usage

axisAngleRep(mfd, X)

Arguments

mfd

A manifold object created by createM

X

A matrix holding a vectorized SO(3) matrix in each column

Value

A matrix with 4 rows and the same number of columns as X. The first row contains the angles in rads (theta), and the last three rows correspond to the the axes with respect to which the rotations are performed.