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Showing content from https://dmurdoch.github.io/orientlib/reference/rotvector.html below:

Create an orientation using vectorized 3x3 matrices — rotvector • orientlib

Creates a rotvector-class object.

m

n x 9 matrix or 9 element vector whose rows are vectorized 3x3 matrices, or an orientation object.

Converts a matrix whose rows are vectorized 3x3 matrices (in column-major form) into an rotvector-class object.

x <- rotvector(c(0,1,0,-1,0,0,0,0,1))
x
#> An object of class "rotvector"
#> Slot "x":
#>      [,1] [,2] [,3] [,4] [,5] [,6] [,7] [,8] [,9]
#> [1,]    0    1    0   -1    0    0    0    0    1
#> 
rotmatrix(x)
#> An object of class "rotmatrix"
#> Slot "x":
#> , , 1
#> 
#>      [,1] [,2] [,3]
#> [1,]    0   -1    0
#> [2,]    1    0    0
#> [3,]    0    0    1
#> 
#> 

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