A minimal package for converting between rotation representations, generating random rotations, projecting to SO(3). To use in Julia, run:
pkg> add https://github.com/lopenguin/SimpleRotations.jl-
Matrix: Any 3x3 matrix (Julia's built in type) may be treated as a rotation matrix. The matrix
$R\in\mathrm{SO}(3)$ if it is orthogonal ($R'R=RR'=I$ ) and has determinant$+1$ . -
Axis-Angle: any axis
ω(3-vector, will be normalized) and angleθ(float). -
Quaternion: any 4-vector
[qw, qx, qy, qz]withqw(the first element) treated as the scalar part.
Currently only conversions to and from rotation matrices are implemented.
| Quaternion | Axis-Angle | Matrix | |
|---|---|---|---|
| Quaternion | rotm2quat(R) |
||
| Axis-Angle | rotm2axang(R) |
||
| Matrix | quat2rotm(q) |
axang2rotm (ω, θ) |
-
randrotation()generates a uniformly random rotation matrix. -
project2SO3(M)projects a 3x3 matrixMto$\mathrm{SO}(3)$ using singular value decomposition. -
roterror(R₁, R₂)computes the angular error in degrees between two rotation matrices