Modern Robotics: Mechanics, Planning, and Control Code Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code is optimized neither for efficiency nor robustness.
* equal case *
R1 = MatrixExp3(VecToso3([0.1,0.1,0.1]))
R2 = MatrixExp3(VecToso3([1,1,1]))
isequal(MatrixLog3(inv(R1)* R2) ,MatrixLog3(R2)-MatrixLog3(R1))
* not equal case *
R1 = MatrixExp3(VecToso3([0.1,0.1,0.1]))
R2 = MatrixExp3(VecToso3([1,2,1]))
isequal(MatrixLog3(inv(R1)* R2) ,MatrixLog3(R2)-MatrixLog3(R1))
The formula presented above represents a general property of logarithms.
However, I was wondering if it is possible that the log symbol used in this book might not always satisfy the aforementioned equation?
If so, I would appreciate it if you could explain the reason for this potential discrepancy.
Thank you so much for writing a great book.
The formula presented above represents a general property of logarithms. However, I was wondering if it is possible that the log symbol used in this book might not always satisfy the aforementioned equation?
If so, I would appreciate it if you could explain the reason for this potential discrepancy.