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Robotics_Toolbox >> Robotics_Toolbox > tr2angvec

tr2angvec

Convert rotation matrix to angle-vector form

Calling Sequence

[THETA,V] = tr2angvec(R)
[THETA,V] = tr2angvec(T)

Description

[THETA,V] = TR2ANGVEC(R) converts an orthonormal rotation matrix R into a rotation of THETA (1x1) about the axis V (1x3).

[THETA,V] = TR2ANGVEC(T) as above but uses the rotational part of the homogeneous transform T.

If R (3x3xK) or T (4x4xK) represent a sequence then THETA (Kx1)is a vector of angles for corresponding elements of the sequence and V (Kx3) are the corresponding axes, one per row.

Notes

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