Rotation_Matrix_Exp​_Log

Matrix Exponential and Log for Rotation Matrix

Solve SO3 to so3 and so3 to SO3.

There is build-in function expm and logm, but they both do not support vectorize calculation.

My function will increase calculation speed.

Also, logm can not deal with theta = -pi or pi.

Detail see examples: demo_ExpRot_ExpRotInv.mlx

Core Function:

% so3 to SO3
R = ExpRot2(xi);

% SO3 to so3
xi = ExpRotInv(R);
[w,theta] = ExpRotInv(R);