Align a Vector to Another

Calculates the rotation matrix that aligns a vector to another

This function calculates rotation matrix that aligns a vector to another.

function R=Rotation(a,b)

where:

a and b are (3*1) vectors

R is (3*3) rotation matrix that aligns vector a to b so that: the normalized vector of b equals R multiplied by the normalized vector of a

references:

Jur van den Berg (https://math.stackexchange.com/users/91768/jur-van-den-berg), Calculate Rotation Matrix to align Vector A to Vector B in 3d?, URL (version: 2016-09-01): https://math.stackexchange.com/q/476311