Rotation Decomposition

  • #1

Main Question or Discussion Point

Hi,

How can I decompose a 3x3 rotation matrix R, into a form:

R = rot(v3,c) X rot(v2,b) X rot(v1,a)

where v1,v2,v3 are known unit length axes (with angles a,b,c unknowns)?

Thank you,
Cristian
 

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