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RotoTransform-Toolbox

Overview

RotoTransform-Toolbox is a MATLAB library for transforming and manipulating rotation representations in 3D space. It allows conversions between Euler angles, quaternions, Rodriguez parameters, and the special orthogonal group ( SO(3) ).

Features

  • **Some Transformations Among The Many **:

    • eulerToSO3(phi, theta, psi): Convert Euler angles to ( SO(3) ).
    • rodriguezToSO3(rho): Convert Rodriguez parameters to ( SO(3) ).
    • SO3ToEuler(R): Convert ( SO(3) ) to Euler angles.

  • Derivatives:

    • J_euler(phi, theta): Calculate the Jacobian of Euler angles.

  • Utilities:

    • skewSymmetric(v): Map a vector from ( \mathbb{R}^3 ) to ( so(3) ).
    • vex(A): Convert a skew-symmetric matrix ( [\cdot]_\times ) to vector form.

Examples

The toolbox includes two example simulations to demonstrate its capabilities. Check the examples folder for practical usage of the transformations.

Installation

Clone the repository and add it to your MATLAB path:

git clone https://github.com/yourusername/RotoTransform-Toolbox.git
addpath('path_to_RotoTransform-Toolbox');