vrrotmat2vec

(To be removed) Convert rotation from matrix to axis-angle representation

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    vrrotmat2vec will be removed in a future release. For more information, see Version History.

    Syntax

    r = vrrotmat2vec(m)
    r = vrrotmat2vec(m,options)

    Description

    r = vrrotmat2vec(m) returns an axis-angle representation of rotation defined by the rotation matrix m.

    r = vrrotmat2vec(m,options) converts the rotation with the default algorithm parameters replaced by values defined in options.

    Input Arguments

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    Matrix representation of rotation defined by the axis-angle rotation vector r, with the default algorithm parameters replaced by values defined in options

    The options structure, containing the parameter epsilon that represents the value below which a number will be treated as zero (default value is 1e-12).

    Output Arguments

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    Rotation vector, r, specified as a row vector of four elements, where the first three elements specify the rotation axis, and the last element defines the angle.

    Version History

    Introduced in R2007b

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    See Also

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