SOLVED: Given a rotation matrix R e SO(3) -0.5425524439243896 -0.8379666024175529 0.05872664492762098 R -0.8365543434571485 0.5326450906491271 -0.12832006020245673 [0.07624746575887673 -0.11874839215823475 0.9899924966004454 You may use MATLAB, etc Be ...
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atan (MATLAB Functions)
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