function	[out,dout]=rodrigues(in)

% RODRIGUES	Transform rotation matrix into rotation vector and viceversa.
%		
%		Sintax:  [OUT]=RODRIGUES(IN)
% 		If IN is a 3x3 rotation matrix then OUT is the
%		corresponding 3x1 rotation vector
% 		if IN is a rotation 3-vector then OUT is the 
%		corresponding 3x3 rotation matrix
%

%%
%%		Copyright (c) March 1993 -- Pietro Perona
%%		California Institute of Technology
%%

%% ALL CHECKED BY JEAN-YVES BOUGUET, October 1995.
%% FOR ALL JACOBIAN MATRICES !!! LOOK AT THE TEST AT THE END !!

%% BUG when norm(om)=pi fixed -- April 6th, 1997;
%% Jean-Yves Bouguet

%% Add projection of the 3x3 matrix onto the set of special ortogonal matrices SO(3) by SVD -- February 7th, 2003;
%% Jean-Yves Bouguet

[m,n] = size(in);
%bigeps = 10e+4*eps;
bigeps = 10e+20*eps;

if ((m==1) & (n==3)) | ((m==3) & (n==1)) %% it is a rotation vector
   theta = norm(in);
   if theta < eps
      R = eye(3);
      
      %if nargout > 1,
      
      dRdin = [0 0 0;
	       0 0 1;
	       0 -1 0;
	       0 0 -1;
	       0 0 0;
	       1 0 0;
	       0 1 0;
	       -1 0 0;
          0 0 0];
       
       %end;
	 
   else
      if n==length(in)  in=in'; end; 	%% make it a column vec. if necess.
	 
	 %m3 = [in,theta]

	 dm3din = [eye(3);in'/theta];

	 omega = in/theta;
	 
	 %m2 = [omega;theta]
	 
	 dm2dm3 = [eye(3)/theta -in/theta^2; zeros(1,3) 1];
	 
	 alpha = cos(theta);
	 beta = sin(theta);
	 gamma = 1-cos(theta);
	 omegav=[[0 -omega(3) omega(2)];[omega(3) 0 -omega(1)];[-omega(2) omega(1) 0 ]];
	 A = omega*omega';
	 
	 %m1 = [alpha;beta;gamma;omegav;A];
	 
	 dm1dm2 = zeros(21,4);
	 dm1dm2(1,4) = -sin(theta);
	 dm1dm2(2,4) = cos(theta);
	 dm1dm2(3,4) = sin(theta);
	 dm1dm2(4:12,1:3) = [0 0 0 0 0 1 0 -1 0;
	                     0 0 -1 0 0 0 1 0 0;
			     0 1 0 -1 0 0 0 0 0]';
		       
         w1 = omega(1);
	 w2 = omega(2);
	 w3 = omega(3);
	 
	 dm1dm2(13:21,1) = [2*w1;w2;w3;w2;0;0;w3;0;0];
	 dm1dm2(13: 21,2) = [0;w1;0;w1;2*w2;w3;0;w3;0];
	 dm1dm2(13:21,3) = [0;0;w1;0;0;w2;w1;w2;2*w3];
	 
	 R = eye(3)*alpha + omegav*beta + A*gamma;
	 
	 dRdm1 = zeros(9,21);
	 
	 dRdm1([1 5 9],1) = ones(3,1);
	 dRdm1(:,2) = omegav(:);
	 dRdm1(:,4:12) = beta*eye(9);
	 dRdm1(:,3) = A(:);
	 dRdm1(:,13:21) = gamma*eye(9);
	 
	 dRdin = dRdm1 * dm1dm2 * dm2dm3 * dm3din;
	 
	 
      end;
      out = R;
      dout = dRdin;
      
      %% it is prob. a rot matr.
   elseif ((m==n) & (m==3) & (norm(in' * in - eye(3)) < bigeps)...
	    & (abs(det(in)-1) < bigeps))
      R = in;
      
      % project the rotation matrix to SO(3);
      [U,S,V] = svd(R);
      R = U*V';
      
      tr = (trace(R)-1)/2;
      dtrdR = [1 0 0 0 1 0 0 0 1]/2;
      theta = real(acos(tr));
      
      
      if sin(theta) >= 1e-10,
	 
	 dthetadtr = -1/sqrt(1-tr^2);
	 
	 dthetadR = dthetadtr * dtrdR;
	 % var1 = [vth;theta];
	 vth = 1/(2*sin(theta));
	 dvthdtheta = -vth*cos(theta)/sin(theta);
	 dvar1dtheta = [dvthdtheta;1];
	 
	 dvar1dR =  dvar1dtheta * dthetadR;
	 
	 
	 om1 = [R(3,2)-R(2,3), R(1,3)-R(3,1), R(2,1)-R(1,2)]';
	 
	 dom1dR = [0 0 0 0 0 1 0 -1 0;
	       0 0 -1 0 0 0 1 0 0;
	       0 1 0 -1 0 0 0 0 0];
	 
	 % var = [om1;vth;theta];
	 dvardR = [dom1dR;dvar1dR];
	 
	 % var2 = [om;theta];
	 om = vth*om1;
	 domdvar = [vth*eye(3) om1 zeros(3,1)];
	 dthetadvar = [0 0 0 0 1];
	 dvar2dvar = [domdvar;dthetadvar];
	 
	 
	 out = om*theta;
	 domegadvar2 = [theta*eye(3) om];
	 
	 dout = domegadvar2 * dvar2dvar * dvardR;
	 
	 
      else
	 if tr > 0; 			% case norm(om)=0;
	    
	    out = [0 0 0]';
	    
	    dout = [0 0 0 0 0 1/2 0 -1/2 0;
		  0 0 -1/2 0 0 0 1/2 0 0;
		  0 1/2 0 -1/2 0 0 0 0 0];
	 else 				% case norm(om)=pi; %% fixed April 6th
	    
	    
	    out = theta * (sqrt((diag(R)+1)/2).*[1;2*(R(1,2:3)>=0)'-1]);
	    %keyboard;
	    
	    if nargout > 1,
	       fprintf(1,'WARNING!!!! Jacobian domdR undefined!!!\n');
		 	dout = NaN*ones(3,9);
	    end;
	 end; 
      end;
      
   else
      error('Neither a rotation matrix nor a rotation vector were provided');
   end;

return;

%% test of the Jacobians:

%%%% TEST OF dRdom:
om = randn(3,1);
dom = randn(3,1)/1000000;

[R1,dR1] = rodrigues(om);
R2 = rodrigues(om+dom);

R2a = R1 + reshape(dR1 * dom,3,3);

gain = norm(R2 - R1)/norm(R2 - R2a)

%%% TEST OF dOmdR:
om = randn(3,1);
R = rodrigues(om);
dom = randn(3,1)/10000;
dR = rodrigues(om+dom) - R;

[omc,domdR] = rodrigues(R);
[om2] = rodrigues(R+dR);

om_app = omc + domdR*dR(:);

gain = norm(om2 - omc)/norm(om2 - om_app)


%%% OTHER BUG: (FIXED NOW!!!)

omu = randn(3,1);   
omu = omu/norm(omu)
om = pi*omu;        
[R,dR]= rodrigues(om);
[om2] = rodrigues(R);
[om om2]

%%% NORMAL OPERATION

om = randn(3,1);         
[R,dR]= rodrigues(om);
[om2] = rodrigues(R);
[om om2]

