This work complements the body of studies on the use of generalized Rodrigues parameters (GRPs) for describing the orientation of a rigid body. A simple decision logic is designed for handling the GRPs so that singular configurations are avoided, while enforcing the one-to-one mapping between the set of orientation parameters and the unique rotation matrix.
On the use of Generalized Rodrigues Parameters for Representing Rigid Body Rotations
2019-05-01
Article (Journal)
Electronic Resource
English
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