:תת

ʽ:SLAM_RmulP(R1 , R2)

R1:ΪһС9ľ,ÿһзֱ𴢴ת9Ԫ

R2:ΪһС9Rͬľ,ÿһзֱ𴢴ת9Ԫ

˵:
1.ҪǼ R12 = R1 * R2,R1R23*3,
2.Ϸһm*9ľ,mʾR,ÿһеֵӦֵR12

:
r1 =
[ 0.71458153778616    0.64140105986071   -0.27924524394285   -0.47463413017759    0.73777115972864    0.48001683131242    0.51390239182719   -0.21047184201742    0.83162848399515
 -0.81151169327144   -0.46326436293251    0.35613887982140    0.50684838309937   -0.86134500137680    0.03448920342280    0.29078082507838    0.20849680726552    0.93379633385809 ]
r2=r2
r2 =
[ 0.91655340425619    0.08425893794461    0.39093514618518    0.17795420148841    0.78950456655217   -0.58737964006754   -0.35813706778133    0.60793336046782    0.70862886612900
  0.55139665349626   -0.31249345406657    0.77350473280948    0.76759372888921    0.55319191125517   -0.32369519102358   -0.32674393320010    0.77222182725392    0.54489618426773 ]
  
r12=SLAM_RmulR(r1,r2)//سõ½
r12 =
[ 0.86910022737544    0.39683644765529   -0.29527212633140   -0.47564987063167    0.83429977729610   -0.27874913842332    0.13572765136115    0.38270708827509    0.91384533113650
 -0.91942987010613    0.27233621023061   -0.28369297233777   -0.39295765717523   -0.60824257379681    0.68965589324559    0.01526412866691    0.74556955411165    0.66625298975523 ]
