:תRתת

ʽ:SLAM_RToV(R)

R:һ3*3ת

˵: 
1Rתʣֻά
2ִϷһ3*1ľ

:

r = {SLAM_VToR<\SLAM_VToR>}(v);
x = SLAM_RToV(r)//سõ½
x =
[ 0.10000000000000
  0.20000000000000
  0.30000000000000 ]