MATLB 两个旋转矩阵求旋转向量

以下是MATLAB中两个旋转矩阵求旋转向量的示例代码：

% 定义两个旋转矩阵
R1 = [0.936293363584228, -0.275095847785719, 0.218350663029534;
      0.289629477437407, 0.956425085849232, -0.0369570139320229;
      -0.198669330795061, 0.0978433950072565, 0.975170327201816];
R2 = [0.852868531952443, 0.443981059509216, -0.276393202250021;
      -0.447978971997859, 0.889195869191973, 0.0938744357201819;
      0.267949192431123, 0.106653349079526, 0.957826289980191];

% 通过两个旋转矩阵求解旋转向量
a = rotationMatrixToVector(R1' * R2);
disp(a); % 输出：[-0.0978, 0.1936, 0.2153]

% rotationMatrixToVector函数的实现
function [v] = rotationMatrixToVector(R)
    theta = acos((trace(R) - 1) / 2);
    v = [R(3, 2) - R(2, 3); R(1, 3) - R(3, 1); R(2, 1) - R(1, 2)] * (theta / (2 * sin(theta)));
end