# axang2rotm

Convert axis-angle rotation to rotation matrix

## Syntax

``rotm = axang2rotm(axang)``

## Description

example

````rotm = axang2rotm(axang)` converts a rotation given in axis-angle form, `axang`, to an orthonormal rotation matrix, `rotm`. When using the rotation matrix, premultiply it with the coordinates to be rotated (as opposed to postmultiplying).```

## Examples

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```axang = [0 1 0 pi/2]; rotm = axang2rotm(axang)```
```rotm = 3×3 0.0000 0 1.0000 0 1.0000 0 -1.0000 0 0.0000 ```

## Input Arguments

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Rotation given in axis-angle form, specified as an n-by-4 matrix of n axis-angle rotations. The first three elements of every row specify the rotation axis, and the last element defines the rotation angle (in radians).

Example: `[1 0 0 pi/2]`

## Output Arguments

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Rotation matrix, returned as a 3-by-3-by-n matrix containing n rotation matrices. Each rotation matrix has a size of 3-by-3 and is orthonormal. When using the rotation matrix, premultiply it with the coordinates to be rotated (as opposed to postmultiplying).

Example: `[0 0 1; 0 1 0; -1 0 0]`