log.SO3 | R Documentation |
Compute the logarithm of a rotation matrix, which results in a 3-by-3 skew-symmetric matrix. This function maps the lie group SO(3) into its tangent space, which is the space of all 3-by-3 skew symmetric matrices, the lie algebra so(3). For details see e.g. moakher02.
## S3 method for class 'SO3' log(x, ...)
x |
n-by-9 matrix where each row corresponds to a random rotation matrix. |
... |
additional arguments. |
moakher02
Skew symmetric matrix log(R).
Rs <- ruars(20, rcayley) #Here we demonstrate how the logarithm can be used to determine the angle and #axis corresponding to the provided sample lRs <- log(Rs) #Take the logarithm of the sample Ws <- lRs[,c(6, 7, 2)] #The appropriate diagonal entries are the axis*angle lens <- sqrt(rowSums(Ws^2)) axes <- mis.axis(Rs) angs <- mis.angle(Rs) all.equal(axes, Ws/lens) all.equal(angs, lens)
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