12 lines
318 B
Matlab
12 lines
318 B
Matlab
function [ axisAngle ] = Rot2AxisAngle( Rot )
|
|
%ROT2AXISANGLE Summary of this function goes here
|
|
% Detailed explanation goes here
|
|
|
|
theta = acos((trace(Rot) - 1) / 2);
|
|
|
|
vec = 1.0/(2*sin(theta));
|
|
vec = vec * [Rot(3,2) - Rot(2,3), Rot(1,3) - Rot(3,1), Rot(2,1) - Rot(1,2)];
|
|
axisAngle = vec * theta;
|
|
end
|
|
|