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ReturnMatrix irpy(const Matrix & R);
Given a homogeneous transform matrix R, this function returns a column vector
![$\displaystyle \left[\begin{array}{c} \alpha \beta \gamma \end{array}\right]$](img10.gif) |
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(2.7) |
such that the
rotation bloc of the matrix
 |
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(2.8) |
is equal to the
rotation bloc of the matrix R.
ColumnVector.
Richard Gourdeau
2004-07-06