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ReturnMatrix irotk(const Matrix & R);
Given a homogeneous transform matrix R, this function returns a column vector
![$\displaystyle \left[\begin{array}{c} \mbox{\boldmath$ k $} \theta \end{array}\right]$](img7.gif) |
|
|
(2.5) |
with
a unit vector such that the
rotation bloc of the matrix
 |
|
|
(2.6) |
is equal to the
rotation bloc of the matrix R.
ColumnVector.
Richard Gourdeau
2004-07-06