PlusLib  2.9.0
Software library for tracked ultrasound image acquisition, calibration, and processing.
rot_up2_2.m
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1 % Updating a rotation matrix
2 % Input: current rotation matrix, angular velocity vector
3 % Output: updated rotation matrix
4 %
5 % created: Dec 1, 2000
6 % modified: Dec 11, 2000
7 % Sangyoon Lee
8 
9 
10 function rot_new = rot_up2_2(rot_old, ang_vel)
11 
12 delt = 0.1; % Artificial time increment
13 % Skew symmetric matrix corresponding to angular velocity
14 skew = [0 -ang_vel(3) ang_vel(2); ang_vel(3) 0 -ang_vel(1);
15  -ang_vel(2) ang_vel(1) 0];
16 rot_new = (eye(3) + delt * skew) * rot_old; % Update
17 rot_new = rot_new * (inv(sqrtm(rot_new' * rot_new))); % Renormalization
Algorithm Minimization over and Arc lengths created
Definition: algo4.m:2
ang_vel(3) 0 -ang_vel(1)
Updating a rotation matrix Input
Definition: rot_up2_2.m:2
double * velocity
Definition: phidget22.h:3326
Artificial time increment Skew symmetric matrix corresponding to angular velocity skew
Definition: rot_up2_2.m:14
Updating a rotation matrix angular velocity vector Sangyoon Lee function rot_new
Definition: rot_up2_2.m:10
PhidgetGPS_Time * time
Definition: phidget22.h:3623
Updating a rotation matrix angular velocity vector modified
Definition: rot_up2_2.m:2
Updating a rotation matrix angular velocity vector Output
Definition: rot_up2_2.m:2
double * current
Definition: phidget22.h:4132