Main Content

axang2rotm

Convert axis-angle rotation to rotation matrix

collapse all in page

Syntax

rotm = axang2rotm(axang)

Description

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).

example

Examples

collapse all

Open Live Script
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

collapse all

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

collapse all

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]

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2015a

See Also

| |

Topics