摘要：旋转向量$\theta a$，旋转矩阵R $W=[\theta a]_{\times}$ $d =|\theta a|$ $R = I + \frac{W sin(d)}{d} + \frac{W^2 (1-cos(d))}{d^2}$ Eigen::Matrix3d ExpSO3(const do 阅读全文

摘要：https://github.com/binary-husky/chatgpt_academic 阅读全文