% 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
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