How does vrrotvec calculate rotation?
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Can anybody describe the math behind vrrotvec? The documentation for this function is very sparse and I would like to know how the rotational transformation is being calculated for my own confiendence in my code.
Thanks!
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James Tursa
2021-11-17
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It is a simple algorithm that uses the cross product for the axis (normalized), and the dot product is used to calculate the angle. I.e., vrrotvec(x,y) is equivalent to the following (but with error checking etc.)
rotation axis = cross(x,y)/norm(cross(x,y))
rotation angle = acos(dot(x,y)/(norm(x)*norm(y)))
then these are concatenated into a 4-element vector
3 个评论
Michael McGeehan
2021-11-17
Vignesh Radhakrishnan
2023-4-21
Can I get the point y again from x using the inverse of the output of vrrotvec or vrrotvec2mat?
Do you mean like this?
x = rand(3,1); x = x/norm(x)
y = rand(3,1); y = y/norm(y)
r = vrrotvec(x,y)
m = vrrotvec2mat(r)
m * x
norm(ans-y)
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