:ȡתſ˱Ⱦ

ʽ:SLAM_SO3_invJr(R)

R:3*3ת,1*33*1

˵: 
1жRתʣжRά
2ɹһRӦ3*3ſ˱Ⱦ
3Ľ{SLAM_SO3_Jr<\SLAM_SO3_Jr>}ĽΪ

:
v = [0.1,0.5,0.8];
a = SLAM_SO3_invJr(v)//سõ½
a =
[ 0.92469644518896   -0.39576946321286    0.25676885885941
  0.40423053678713    0.94500302176722   -0.01615570570290
 -0.24323114114058    0.08384429429709    0.97800120870688 ]