Calculate rotation between two vectors


r = vrrotvec(a,b)
r = vrrotvec(a,b,options)


r = vrrotvec(a,b) calculates a rotation needed to transform the 3D vector a to the 3D vector b.

r = vrrotvec(a,b,options) calculates 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.

Introduced in R2007b

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