User`s guide

10 Functions — Alphabetical List

10-104

vrrotvec2mat

Convert rotation from axis-angle to matrix representation

Syntax

m = vrrotvec2mat(r)

m = vrrotvec2mat(r,options)

Description

m = vrrotvec2mat(r) returns a matrix representation of the rotation defined by the

axis-angle rotation vector, r.

m = vrrotvec2mat(r,options) returns a matrix representation of rotation defined

by the axis-angle rotation vector r, 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 rotation vector, r, is a row vector of four elements, where the first three elements

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

To rotate a column vector of three elements, multiply it by the rotation matrix. To rotate

a row vector of three elements, multiply it by the transposed rotation matrix.