## Rotation Matrix |

A rotation matrix is a matrix used to rotate an axis about a given point. The center of a Cartesian coordinate frame is typically used as that point of rotation. Rotation matrices are used for computations in aerospace, image processing, and other technical computing applications.

The revolution of a rotation matrix is often described with Euler angles, but can also be described in vector form using quaternions. Although there are many methods to perform a rotation, the most prevalent are based on directional cosine matrices and quaternions.

Common tasks include::

- Performing 2D and 3D rotations using a single function call
- Converting between quaternion vectors and rotation matrices
- Actively using matrix operations for rotation in simulation

For details on implementing a rotation matix, see MATLAB^{®} and Simulink^{®}.

- Creating a Stewart Platform Model Using SimMechanics (Article)
- Plane Rotations Using Symbolic Math Toolbox (Example)
- Rotate an Image (Example)
- Use Group Objects to Apply a Rotation Matrix (Example)
- Representations of Body Orientation in SimMechanics (Example)

- Aerospace Toolbox (Product)
- Convert Rotation Angle to Quaternion (Function)
- Rotation Angles to Direction Cosine Matrix (Block)
- Create 4-by-4 Transform Matrix (Function)

*See also*: *Euler angles*, *quaternion*, *Monte Carlo simulation*, *MATLAB apps*, *image transform*, *linearization*, *Aerospace Blockset*, *Aerospace Toolbox*, *Image Processing Toolbox*, *SimMechanics*, *Symbolic Math Toolbox*