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calc_concatenated_R

PURPOSE ^

% calculate uncertain concatenated rotation R = R2 * R1

SYNOPSIS ^

function R = calc_concatenated_R(Rp);

DESCRIPTION ^

% calculate uncertain concatenated rotation R = R2 * R1

 Rp   rotation pair, Rp.Rp=[R1,R2] = [3x6], Rp.Cp = [6x6]

 R    [3x3] concatenated rotation, R.R , R.C

 wf 5/2020

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function R  = calc_concatenated_R(Rp);
0002 %% calculate uncertain concatenated rotation R = R2 * R1
0003 %
0004 % Rp   rotation pair, Rp.Rp=[R1,R2] = [3x6], Rp.Cp = [6x6]
0005 %
0006 % R    [3x3] concatenated rotation, R.R , R.C
0007 %
0008 % wf 5/2020
0009 
0010 % adjoint rotyation matrix
0011 R2  = Rp.Rp(:,4:6);
0012 % concatenated mean
0013 R.R = R2 * Rp.Rp(:,1:3);
0014 % Jacobian and CovM
0015 J   = [R2 eye(3)];
0016 R.C = J * Rp.Cp * J';
0017 
0018 return

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