Rodrigues' Rotation Formul

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Modestus Jamey Franciscus
International Book Market Service Limited, 2011 - 100 Seiten
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Please note that the content of this book primarily consists of articles available from Wikipedia or other free sources online. In the theory of three-dimensional rotation, Rodrigues' rotation formula (named after Olinde Rodrigues) is an efficient algorithm for rotating a vector in space, given an axis and angle of rotation. By extension, this can be used to transform all three basis vectors to compute a rotation matrix from an axis-angle representation. In other words, the Rodrigues formula provides an algorithm to compute the exponential map from so(3) to SO(3) without computing the full matrix exponent.

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