vrrotvec2mat

R2026b

(Removed) Convert rotation from axis-angle to matrix representation

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vrrotvec2mat has been removed. For more information, see Version History.

Syntax

m = vrrotvec2mat(r)
m = vrrotvec2mat(r,options)

Description

m = vrrotvec2mat(r) returns a matrix representation of the rotation defined by the axis-angle rotation vector, r.

m = vrrotvec2mat(r,options) returns a matrix representation of rotation defined by the axis-angle rotation vector r, with the default algorithm parameters replaced by values defined in options.

To rotate a column vector of three elements, multiply it by the rotation matrix. To rotate a row vector of three elements, multiply it by the transposed rotation matrix.

Input Arguments

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Rotation vector, r, specified as a row vector of four elements, where the first three elements specify the rotation axis, and the last element defines the angle.

The options structure, containing the parameter epsilon that represents the value below which a number will be treated as zero (default value is 1e-12).

Output Arguments

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Matrix representation of rotation defined by the axis-angle rotation vector r, with the default algorithm parameters replaced by values defined in options

Version History

Introduced in R2007b

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See Also

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