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/***************************************************
Author : Shashank Shekhar
**************************************************/
#include <bits/stdc++.h>
using namespace std;
extern "C"
{
#include "api_scilab.h"
#include "Scierror.h"
#include "BOOL.h"
#include <localization.h>
#include "sciprint.h"
int rotationMTV(char *fname, unsigned long fname_len)
{
SciErr sciErr;
int *piAddr = NULL;
int iRows = 0;
int iCols = 0;
int *piLen = 0;
char **pstData = NULL;
double RotMat[9];
double *temp = NULL;
int noOfarguments = *getNbInputArgument(pvApiCtx);
double outMat[3];
double theta;
int i;
CheckInputArgument(pvApiCtx,1,1);
CheckOutputArgument(pvApiCtx,1,1);
sciErr = getVarAddressFromPosition(pvApiCtx,1,&piAddr);
if (sciErr.iErr)
{
printError(&scisErr, 0);
return 0;
}
if(!isDoubleType(pvApiCtx, piAddr) || isVarComplex(pvApiCtx, piAddr))
{
Scierror(999,"A 3x3 Matrix expected.\n");
return 0;
}
sciErr = getMatrixOfDouble(pvApiCtx, piAddr, &iRows, &iCols, &temp);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
if(iRows!=3 || iCols!=3)
{
Scierror(999,"Invalid Argument\n");
return 0;
}
for(i=0;i<3;i++)
{
for(int j=0;j<3;j++)
{
RotMat[j*3+i]=temp[i*3+j];
}
}
// ----------------------------------------------------------- Evaluation --------------------------------------------------------
double myMat[3][3];
for(int i=0;i<3;i++)
for(int j=0;j<3;j++)
myMat[i][j] = RotMat[i*3+j];
double trace = RotMat[0]+RotMat[4]+RotMat[8];
theta = acos((trace-1)/2);
outMat[0] = myMat[2][1]-myMat[1][2];
outMat[1] = myMat[0][2]-myMat[2][0];
outMat[2] = myMat[1][0]-myMat[0][1];
double element;
double threshold = 1e-4;
if(sin(theta) >= threshold)
{
element = theta/(2*sin(theta));
for(int i=0;i<3;i++)
outMat[i]=outMat[i]*element;
}
else if (theta-1 > 0)
{
element = (0.5-(theta-3)/12);
for(int i=0;i<3;i++)
outMat[i]=outMat[i]*element;
}
else
{
double myMax=myMat[0][0];
int iter1=0;
int iter2,iter3;
for(int i=0;i<3;i++)
{
if(myMat[i][i]>myMax)
{
myMax=myMat[i][i];
iter1=i;
}
}
iter2 = (iter1%2) +1;
iter3 = ((iter1+1)%2) +1;
double ev = sqrt(myMat[iter1][iter1] - myMat[iter2][iter2] - myMat[iter3][iter3] + 1);
outMat[0] = ev/2;
outMat[1] = (myMat[iter2][iter1] + myMat[iter1][iter2])/(2*ev);
outMat[2] = (myMat[iter3][iter1] + myMat[iter1][iter3])/(2*ev);
for(int i=0;i<3;i++)
ev+=pow(outMat[i],2);
ev = sqrt(ev);
for(int i=0;i<3;i++)
outMat[i]=(outMat[i]/ev)*theta;
}
// --------------------------------------------------------Creating 1x3 Mat to Return -------------------------------------------------------------
sciErr = createMatrixOfDouble(pvApiCtx, nbInputArgument(pvApiCtx) + 1, 3,1,outMat);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
AssignOutputVariable(pvApiCtx, 1) = nbInputArgument(pvApiCtx) + 1;
ReturnArguments(pvApiCtx);
return 0;
}
}
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