slambook2 icon indicating copy to clipboard operation
slambook2 copied to clipboard

Published 20 hours ago • verified publisher icon gaoxiang12

Wrong Rodrigues’ formula

Open MichaelRazum opened this issue 11 months ago • 0 comments

Hi there,

not 100% sure but it seems that equation (3.15) R = cos θI + (1 − cos θ) nnT + sin θn∧ should be without the cos θ term R = I + (1 − cos θ) nnT + sin θn∧

At least based on the derivation in wikipedia. https://en.wikipedia.org/wiki/Rodrigues%27_rotation_formula

MichaelRazum avatar Mar 11 '24 12:03 MichaelRazum