4. For a given rotation matrix as following. R (0)=21 22 23 describe an algorithm that...

  

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4. For a given rotation matrix as following. R (0)=21 22 23 describe an algorithm that extracts the equivalent angle and axis of a rotation matrix as shown in Equation (2.80). kk v0+ c0 R (0) kk v0+k_s0 kk,v0-k.s0 kk,v0+c0 kk_v0+ks0 2.sin kk_v0+k, s0 kk v0-k s0 kk_v0+ c0 kk_v0-k,s0 Equation (2.82) is a good start, but make sure that your algorithm handles the special case 0 = 0º and 0 = = 180º. 0 = Ar cos(+₂+₁ -1, (2.80) -2. Hint: The inverse algorithm consists of three sub-algorithms: (2.82) a) If 0-0°, let 0-0°, calcualte (2.80) and solving for "K=[K, K, K.] b) If 0=180°, let 0=180°, calcualte (2.80) and solving for ^K=[K, K, K.] c) Otherwise, using (2.82) 4. For a given rotation matrix as following. R (0)=21 22 23 describe an algorithm that extracts the equivalent angle and axis of a rotation matrix as shown in Equation (2.80). kk v0+ c0 R (0) kk v0+k_s0 kk,v0-k.s0 kk,v0+c0 kk_v0+ks0 2.sin kk_v0+k, s0 kk v0-k s0 kk_v0+ c0 kk_v0-k,s0 Equation (2.82) is a good start, but make sure that your algorithm handles the special case 0 = 0º and 0 = = 180º. 0 = Ar cos(+₂+₁ -1, (2.80) -2. Hint: The inverse algorithm consists of three sub-algorithms: (2.82) a) If 0-0°, let 0-0°, calcualte (2.80) and solving for "K=[K, K, K.] b) If 0=180°, let 0=180°, calcualte (2.80) and solving for ^K=[K, K, K.] c) Otherwise, using (2.82)

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