rotangle {cwhmath} | R Documentation |
Decompose the orthogonal matrix Q
into the product R3 * R2 * R1
where the Ri
are the elementary rotations around the i-th axis.
rotangle(Q)
Q |
Orthogonal matrix. |
The vector containing the rotation angles [radian]
Walter Gander, gander@inf.ethz.ch,
http://www.inf.ethz.ch/personal/gander/
"Least squares fit of point clouds" in: W. Gander and J. Hrebicek, ed., Solving Problems in Scientific Computing using Maple and Matlab, Springer Berlin Heidelberg New York, 1993, third edition 1997.
pointfit
, rotm
for synthesizing
such a matrix.
rot <- matrix(c(0.847101, -0.480873, -0.226234, 0.489074, 0.538865, 0.685880, -0.207912, -0.691655, 0.691655),3,3,byrow=TRUE) rotangle(rot) #> 0.785398 0.209440 -0.523599 rotangle(rot)/pi*180 #> degrees: 45 12 -30