| Virtual Reality Toolbox™ | |
Convert rotation from axis-angle to matrix representation
m = vrrotvec2mat(r)
m = vrrotvec2mat(r,options)
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.
vrrotvec and vrrotmat2vec
| vrrotmat2vec | vrsetpref | |
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