:תRתת

ʽ:SLAM_RToQ(R)

R:һ3*3ת

˵: 
1Rתʣֻά
2ִϷһ4*1ľֱӦλԪ[c, m * s , n * s , l * s], c = cos(theta/2), s = sin(theta/2), [m,n,l]Ϊλת, theta ΪƵλתŶĽǶ

:
v = 1:3;
r = {SLAM_VToR<\SLAM_VToR>}(v);
q = SLAM_RToQ(r)//سõ½
q =
[ 0.29555112749297
  0.25532186004526
  0.51064372009052
  0.76596558013579 ]