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Subsections

irotk

Syntax

ReturnMatrix irotk(const Matrix & R);

Description

Given a homogeneous transform matrix R, this function returns a column vector
$\displaystyle \left[\begin{array}{c} \mbox{\boldmath$ k $}   \theta \end{array}\right]$     (2.5)

with $\mbox{\boldmath$ k $}$ a unit vector such that the $3 \times 3$ rotation bloc of the matrix
$\displaystyle \mbox{\boldmath$ Rot $}(\mbox{\boldmath$ k $}, \theta)$     (2.6)

is equal to the $3 \times 3$ rotation bloc of the matrix R.

Return Value

ColumnVector.



Richard Gourdeau 2004-07-06