vrrotvec

Calculate rotation between two vectors

Syntax

r = vrrotvec(a,b)

r = vrrotvec(a,b,options)

Description

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.

Input Arguments

a, b — 3-D vector

vector

3-D vectors between which rotation is being calculated.

Data Types: single | double

options — Structure containing epsilon

structure

Structure containing the parameter epsilon that represents the value below which a number will be treated as zero (default value is 1e-12). Default value of epsilon is 1e-12.

Data Types: struct

Output Arguments

r — axis angle rotation vector

row vector

Axis-angle rotation, returned as a four element row vector. The first three elements specify the rotation axis, and the last element defines the angle of rotation.

Version History

Introduced in R2007b