Go to the documentation of this file.
15 MatrixXf::Index index;
24 U(0,0) = 1+R(0,0)+R(1,1)+R(2,2);
25 U(0,1) = R(2,1)-R(1,2);
26 U(0,2) = R(0,2)-R(2,0);
27 U(0,3) = R(1,0)-R(0,1);
30 U(1,1) = 1+R(0,0)-R(1,1)-R(2,2);
31 U(1,2) = R(0,1)+R(1,0);
32 U(1,3) = R(2,0)+R(0,2);
36 U(2,2) = 1-R(0,0)+R(1,1)-R(2,2);
37 U(2,3) = R(1,2)+R(2,1);
42 U(3,3) = 1-R(0,0)-R(1,1)+R(2,2);
66 q(1) = sign(U(0,1))*q(1);
67 q(2) = sign(U(0,2))*q(2);
68 q(3) = sign(U(0,3))*q(3);
78 q(0) = sign(U(1,0))*q(0);
80 q(2) = sign(U(1,2))*q(2);
81 q(3) = sign(U(1,3))*q(3);
91 q(0) = sign(U(2,0))*q(0);
92 q(1) = sign(U(2,1))*q(1);
94 q(3) = sign(U(2,3))*q(3);
104 q(0) = sign(U(3,0))*q(0);
105 q(1) = sign(U(3,1))*q(1);
106 q(2) = sign(U(3,2))*q(2);
|
Follow us!