User`s guide

vrrotmat2vec

10-103

vrrotmat2vec

Convert rotation from matrix to axis-angle representation

Syntax

r = vrrotmat2vec(m)

r = vrrotmat2vec(m,options)

Description

r = vrrotmat2vec(m) returns an axis-angle representation of rotation defined by the

rotation matrix m.

r = vrrotmat2vec(m,options) converts the rotation with the default algorithm

parameters replaced by values defined in options.

The options structure contains the parameter epsilon that represents the value below

which a number will be treated as zero (default value is 1e-12).

The result r is a four-element axis-angle rotation row vector. The first three elements

specify the rotation axis, and the last element defines the angle of rotation.