project.SO3 {rotations} | R Documentation |
Project an arbitrary 3\times 3
matrix into SO(3)
.
project.SO3(M)
M |
|
This function uses the process detailed in Section 3.1 of moakher02 to project an arbitrary 3\times 3
matrix into SO(3)
.
More specifically it finds the closest orthogonal 3-by-3 matrix with determinant one to the provided matrix.
Projection of \bm M
into SO(3)
.
#Project an arbitrary 3x3 matrix into SO(3)
M<-matrix(rnorm(9), 3, 3)
project.SO3(M)
#Project a sample arithmetic mean into SO(3), same as 'mean'
Rs <- ruars(20, rcayley)
Rbar <- colSums(Rs)/nrow(Rs)
project.SO3(Rbar) #The following is equivalent
mean(Rs)