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