# axang2rotm

Convert axis-angle rotation to rotation matrix

## Description

example

rotm = axang2rotm(axang) converts a rotation given in axis-angle form, axang, to an orthonormal rotation matrix, rotm. When using the rotation matrix, premultiply it with the coordinates to be rotated (as opposed to postmultiplying).

## Examples

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axang = [0 1 0 pi/2];
rotm = axang2rotm(axang)
rotm = 3×3

0.0000         0    1.0000
0    1.0000         0
-1.0000         0    0.0000

## Input Arguments

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Rotation given in axis-angle form, specified as an n-by-4 matrix of n axis-angle rotations. The first three elements of every row specify the rotation axis, and the last element defines the rotation angle (in radians).

Example: [1 0 0 pi/2]

## Output Arguments

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Rotation matrix, returned as a 3-by-3-by-n matrix containing n rotation matrices. Each rotation matrix has a size of 3-by-3 and is orthonormal. When using the rotation matrix, premultiply it with the coordinates to be rotated (as opposed to postmultiplying).

Example: [0 0 1; 0 1 0; -1 0 0]

## Version History

Introduced in R2015a