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OM = <a href="VL_IRODR.html">VL_IRODR</a>(R) where R is a rotation matrix computes the the
inverse Rodrigues' formula of om, returning the rotation matrix R
= dehat(Logm(OM)).
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[OM,DOM] = <a href="VL_IRODR.html">VL_IRODR</a>(R) computes also the derivative of the Rodrigues'
formula. In matrix notation this is the e