exp2rot_matrix

Converts from exponential to matrix rotation parameterization.

Calling Sequence

R = exp2rot_matrix(r)

Parameters

r: 3-vector representing an exponential parametrization of a rotation.
R: 3x3 orthogonal matrix representing the underlying rotation

Description

exp2rot_matrix converts an exponential representation of a rotation to the usual 3x3 matrix representation. This is important in robotics as well as in inverse kinematic problems arising in 3D computer vision.

Examples

// Todo

Authors

Ricardo Fabbri <ricardofabbri[at]users.sf.net>

Availability

The latest version of SIP can be found at

http://siptoolbox.sf.net