Rotation_Matrix_Exp_Log
Version 1.0.0 (7.73 KB) by
HS Ding
Matrix Exponential and Log for Rotation Matrix
Solve SO3 to so3 and so3 to SO3.
There is build-in function expm and logm, but they both do not support vectorize calculation.
My function will increase calculation speed.
Also, logm can not deal with theta = -pi or pi.
Detail see examples: demo_ExpRot_ExpRotInv.mlx
Core Function:
% so3 to SO3
R = ExpRot2(xi);
% SO3 to so3
xi = ExpRotInv(R);
[w,theta] = ExpRotInv(R);
Cite As
HS Ding (2024). Rotation_Matrix_Exp_Log (https://www.mathworks.com/matlabcentral/fileexchange/166986-rotation_matrix_exp_log), MATLAB Central File Exchange. Retrieved .
MATLAB Release Compatibility
Created with
R2024a
Compatible with any release
Platform Compatibility
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Version | Published | Release Notes | |
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1.0.0 |