:ȡתſ˱Ⱦ

ʽ:SLAM_SO3_invJl(R)

R:3*3ת,1*33*1

˵: 
1жRתʣжRά
2ɹһRӦ3*3ſ˱Ⱦ
3Ľ{SLAM_SO3_Jl<\SLAM_SO3_Jl>}ĽΪ

:
v = [0.1,0.5,0.8];
a = SLAM_SO3_invJl(v)//سõ½
a =
[ 0.92469644518896    0.40423053678713   -0.24323114114058
 -0.39576946321286    0.94500302176722    0.08384429429709
  0.25676885885941   -0.01615570570290    0.97800120870688 ]