function?[a?v]?=?angleaxis（x）
%?angleaxis?quaternion?direction?cosine?matrix?angle?axis
%*******************************************************************
%
%?angleaxis?calculates?the?rotation?angle?and?rotation?axis?of?the
%?input?quaternion?or?direction?cosine?matrix.
%
%?Input:?x?=?quaternion?x（1）?=?scalar?x（2:4）?=?vector
%?Rotation?sense?=?Successive?rotations?are?right?multiplies.
%?Assumes?x?is?normalized.
%
%?or
%
%?x?=?direction?cosine?matrix.
%?Assumes?x?is?orthonormalized.
%
%?Output:?a?=?rotation?angle?（radians）
%?v?=?rotation?axis?（1x3?unit?vector）
%
%?Programmer:?James?Tursa
%
%*******************************************************************

if（?numel（x）?==?9?）
????q?=?dc2quat（x）;
else
????q?=?x;
end
a?=?2?*?acos（q（1））;
if（?nargout?==?2?）
????if（?a?==?0?）
????????v?=?[1?0?0];
????else
????????v?=?q（2:4）/sin（a/2）;
????end
end

return
end

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-07-07?21:45??robust-icp\
?????文件??????????11??2013-03-23?00:37??robust-icp\.gitignore
?????文件????????3115??2013-03-23?00:37??robust-icp\DQicp.m
?????文件??????159603??2018-07-03?23:46??robust-icp\Head1.txt
?????文件??????159603??2018-07-03?23:46??robust-icp\Head2.txt
?????文件??????????67??2013-03-23?00:37??robust-icp\README.md
?????文件?????????459??2018-07-07?21:44??robust-icp\Untitled3.m
?????文件?????????869??2013-03-23?00:37??robust-icp\angleaxis.m
?????文件?????????771??2013-03-23?00:37??robust-icp\awf_m_estimator.m
?????文件?????????376??2013-03-23?00:37??robust-icp\awf_translate_pts.m
?????目錄???????????0??2018-07-07?21:45??robust-icp\bwdistsc\
?????文件????????4485??2013-03-23?00:37??robust-icp\bwdistsc\bwdistX.m
?????文件???????18385??2013-03-23?00:37??robust-icp\bwdistsc\bwdistsc.m
?????文件???????18669??2013-03-23?00:37??robust-icp\bwdistsc\bwdistsc1.m
?????文件????????1337??2013-03-23?00:37??robust-icp\bwdistsc\license.txt
?????文件????????1536??2013-03-23?00:37??robust-icp\dc2quat.m
?????文件???????18337??2013-03-23?00:37??robust-icp\icp.m
?????文件?????????379??2013-03-23?00:37??robust-icp\icp_2d_lm.m
?????文件????????5034??2013-03-23?00:37??robust-icp\icp_2d_lm_aux.m
?????文件?????????657??2013-03-23?00:37??robust-icp\icp_2d_lm_init.m
?????文件?????????375??2013-03-23?00:37??robust-icp\icp_2dbasic.m
?????文件????????2384??2013-03-23?00:37??robust-icp\icp_2dbasic_step.m
?????文件????????3686??2013-03-23?00:37??robust-icp\icp_3d_err_transformed.m
?????文件????????2116??2013-03-23?00:37??robust-icp\icp_3dbasic.m
?????文件????????5987??2013-03-23?00:37??robust-icp\icp_3dlm.m
?????文件????????4506??2013-03-23?00:37??robust-icp\icp_3dlm_normals.m
?????文件?????????278??2013-03-23?00:37??robust-icp\icp_deparam.m
?????文件?????????928??2013-03-23?00:37??robust-icp\lsqnormest.m
?????文件?????????630??2013-03-23?00:37??robust-icp\plot_matches_1d.m
?????文件?????????374??2013-03-23?00:37??robust-icp\plot_matches_3d.m
?????文件?????????451??2013-03-23?00:37??robust-icp\pointclouddt.m
............此處省略17個文件信息