12 lines
273 B
Mathematica
12 lines
273 B
Mathematica
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function [Rot] = AxisAngle2Rot(axisAngle)
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theta = norm(axisAngle, 2);
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nx = axisAngle / theta;
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nx = [ 0 -nx(3) nx(2);
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nx(3) 0 -nx(1);
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-nx(2) nx(1) 0 ];
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Rot = eye(3) + sin(theta) * nx + (1-cos(theta))*nx^2;
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