This work complements the body of studies on the use of generalized Rodrigues parameters (GRPs) for describing the orientation of a rigid body. A simple decision logic is designed for handling the GRPs so that singular configurations are avoided, while enforcing the one-to-one mapping between the set of orientation parameters and the unique rotation matrix.

中文翻译：

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关于使用广义Rodrigues参数表示刚体旋转

这项工作补充了有关使用广义Rodrigues参数（GRP）来描述刚体方向的研究机构。设计了一种简单的决策逻辑来处理GRP，从而避免了单一配置，同时增强了方向参数集与唯一旋转矩阵之间的一对一映射。