来自https://groups.google.com/forum/?fromgroups=#!topic/mathtools/q25a5WoG6Eo,龚海峰写的(不是自己找的吗):
function orthm = ang2orth(ang)
sa = sin(ang(2)); ca = cos(ang(2));
sb = sin(ang(1)); cb = cos(ang(1));
sc = sin(ang(3)); cc = cos(ang(3));
ra = [ ca, sa, 0; ...
-sa, ca, 0; ...
0, 0, 1];
rb = [ cb, 0, sb; ...
0, 1, 0; ...
-sb, 0, cb];
rc = [ 1, 0, 0; ...
0, cc, sc;...
0, -sc, cc];
orthm = rc*rb*ra;
function ang = orth2ang(orthm)
ang(1) = asin(orthm(1,3)); %Wei du
ang(2) = angle( orthm(1,1:2)*[1 ;i] ); %Jing Du
yz = orthm* ...
[orthm(1,:)',...
[-sin(ang(2)); cos(ang(2)); 0],...
[-sin(ang(1))*cos(ang(2)); -sin(ang(1)*sin(ang(2)));
cos(ang(1))] ];
ang(3) = angle(yz(2,2:3)* [1; i]); % Xuan Du
可以在这里和这里 There is an isomorphism between SO(3) and SU(2)
看到: