Project an arbitrary $3\times 3$ matrix into
$SO(3)$.
Usage
project.SO3(M)
Arguments
M
$3\times 3$ matrix to project into
$SO(3)$.
Value
Projection of $\bm M$ into $SO(3)$.
Details
This function uses the process given in Moakher
(2002) to project an arbitrary $3\times 3$
matrix into $SO(3)$. More specifically it finds the
closest orthogonal 3-by-3 matrix with determinant one to
the provided matrix.
References
Moakher M (2002). "Means and averaging in the group of
rotations." SIAM Journal on Matrix Analysis and
Applications, 24(1), pp. 1-16.