Syntax

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 vectorr, with the default algorithm parameters replaced by values defined inoptions.

Theoptionsstructure contains the parameterepsilonthat 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.

Version History

See Also

vrrotvec|vrrotmat2vec