Conversions among representations of 3D orientation: q=expmap2quat(r) - File Exchange - MATLAB Central

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Conversions among representations of 3D orientation

R=expmap2rotmat(r); function R=expmap2rotmat(r);
R=quat2rotmat(q)
[r]=quat2expmap(q) function [r]=quat2expmap(q)
q=expmap2quat(r)
q=rotmat2quat(R) function q=rotmat2quat(R)
r=rotmat2expmap(R)
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from Conversions among representations of 3D orientation by Hao Zhang
conversions among representations of 3D orientation

q=expmap2quat(r)
function q=expmap2quat(r) q=rotmat2quat(expmap2rotmat(r));

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