% 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
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