Function lupnt::RotationAngle

• Defined in File math_utils.cc

Function Documentation

Real lupnt::RotationAngle(const Mat3 &R)

Rotation angle [rad] of a 3x3 rotation matrix R, computed from its trace via acos((trace(R) - 1) / 2).

Parameters:

R – 3x3 rotation matrix

Returns:

Rotation angle [rad] in [0, pi]