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Rotation Decomposition

  1. Jul 3, 2005 #1
    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
     
  2. jcsd
  3. Jul 3, 2005 #2
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