Rotation ParameterizationsΒΆ

Simple example of how to convert a rotation matrix into equivalent formats.

ExampleRotationParameterizations.java

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public static void main(String[] args) {

    // Euler to rotation matrix
    DenseMatrix64F R = ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ,0.5,-1,-0.45,null);

    // matrix to Rodrigues
    Rodrigues_F64 rod = ConvertRotation3D_F64.matrixToRodrigues(R,(Rodrigues_F64)null);

    // Rodrigues to Quaternion
    Quaternion_F64 quat = ConvertRotation3D_F64.rodriguesToQuaternion(rod,null);

    // Quaternion to Rotation Matrix
    DenseMatrix64F T = ConvertRotation3D_F64.quaternionToMatrix(quat,null);

    // see if you get the same answer
    R.print();
    T.print();
}