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 detailed in Section 3.1 of
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.