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.
See Also
vrrotvec and vrrotmat2vec
 | vrrotmat2vec | | vrsetpref |  |
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