tform2rotm
Extract rotation matrix from homogeneous transformation
Syntax
Description
extracts
the rotational component from a homogeneous transformation, rotm
= tform2rotm(tform
)tform
,
and returns it as an orthonormal rotation matrix, rotm
.
The translational components of tform
are ignored.
The input homogeneous transformation must be in the pre-multiply form
for transformations. When using the rotation matrix, premultiply it
with the coordinates to be rotated (as opposed to postmultiplying).