rotangle               package:cwhmath               R Documentation

_C_o_m_p_u_t_e _r_o_t_a_t_i_o_n _a_n_g_l_e_s _f_r_o_m _o_r_t_h_o_g_o_n_a_l _m_a_t_r_i_x.

_D_e_s_c_r_i_p_t_i_o_n:

     Decompose the orthogonal matrix 'Q' into the product 'R3 * R2 *
     R1' where the 'Ri' are the elementary rotations around the i-th
     axis.

_U_s_a_g_e:

       rotangle(Q)

_A_r_g_u_m_e_n_t_s:

       Q: Orthogonal matrix.

_V_a_l_u_e:

     The vector containing the rotation angles [radian]

_A_u_t_h_o_r(_s):

     Walter Gander, gander@inf.ethz.ch, 
      <URL: http://www.inf.ethz.ch/personal/gander/>

_R_e_f_e_r_e_n_c_e_s:

     "Least squares fit of point clouds" in: W. Gander and J. Hrebicek,
     ed., Solving Problems in Scientific Computing using Maple and
     Matlab, Springer Berlin Heidelberg New York, 1993, third edition
     1997.

_S_e_e _A_l_s_o:

     'pointfit', 'rotm' for synthesizing such a matrix.

_E_x_a_m_p_l_e_s:

       rot <- matrix(c(0.847101, -0.480873, -0.226234, 0.489074,  0.538865,
     0.685880, -0.207912, -0.691655,  0.691655),3,3,byrow=TRUE)
       rotangle(rot) #> 0.785398  0.209440 -0.523599
       rotangle(rot)/pi*180 #> degrees:  45  12 -30

