Home > .. > Matlab_Uncertain_Frames_sz > calc_relative_R.m

calc_relative_R

PURPOSE ^

% calculate uncertain relative rotation R12 = R1' * R2

SYNOPSIS ^

function [Rd,J] = calc_relative_R(Rp)

DESCRIPTION ^

% calculate uncertain relative rotation R12 = R1' * R2

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

 Rd   relative rotation, Rd.R=[3x3] , Rd.C= [3x3]
 J    [3x6] Jacobian

 wf 5/2020

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function [Rd,J]  = calc_relative_R(Rp)
0002 %% calculate uncertain relative rotation R12 = R1' * R2
0003 %
0004 % Rp   rotation pair, Rp.Rp=[R1,R2])[3x6], Rp.Cp = [6x6]
0005 %
0006 % Rd   relative rotation, Rd.R=[3x3] , Rd.C= [3x3]
0007 % J    [3x6] Jacobian
0008 %
0009 % wf 5/2020
0010 
0011 % R1 and R12
0012 R1   = Rp.Rp(:,1:3);
0013 Rd.R = R1' * Rp.Rp(:,4:6);
0014 % Jacobian and CovN
0015 J    = [-R1' R1'];
0016 Rd.C = J * Rp.Cp * J';
0017 
0018 return

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