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Topic: Using Solve/FSolve for Multiple Trig Equations
Replies: 7   Last Post: May 4, 2013 8:44 AM

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Bruno Luong

Posts: 9,822
Registered: 7/26/08
Re: Using Solve/FSolve for Multiple Trig Equations
Posted: May 2, 2013 6:52 AM
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> Here is a short code to illustrate that the problem of finding 3D rotation matrix R such that R*u = v has infinity solutions:
> % Input vectors of norm 1
> u = rand(3,1);
> u = u/norm(u)
> v = randn(3,1) ;
> v = v/norm(v);
> ...

To be clear, in relation of my post #3, the connection with the original problem is:

u = [0 0 1]';
v = [-J,I,K]';

The solution is given by:
r = theta1;
p = -theta2;
y = theta3.

where theta1, theta2, theta3 are 3 Euler's angles of (3x3) matrix R, when using the convention R = [Z1*X2*Y3].


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