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calc_inverse_R

PURPOSE ^

% calculate uncertain inverse rotation

SYNOPSIS ^

function [Ri,J] = calc_inverse_R(R)

DESCRIPTION ^

%  calculate uncertain inverse rotation

 R     motion, R.R = [3x3], R.C = [3x3]

 Ri    inverse rotation, Ri.M = [3x3], Ri.C = [3x3]
 J      [3x3] Jacobian
 
 wf 5/2020

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function [Ri,J] = calc_inverse_R(R)
0002 %%  calculate uncertain inverse rotation
0003 %
0004 % R     motion, R.R = [3x3], R.C = [3x3]
0005 %
0006 % Ri    inverse rotation, Ri.M = [3x3], Ri.C = [3x3]
0007 % J      [3x3] Jacobian
0008 %
0009 % wf 5/2020
0010 
0011 % rotation
0012 R0   = R.R;
0013 % inverse
0014 Ri.R = inv(R0);
0015 % Jacobian and CovM
0016 J    = -R0';
0017 Ri.C = J*R.C*J';
0018 
0019 end
0020

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