# axang2tform

Convert axis-angle rotation to homogeneous transformation

## Description

example

tform = axang2tform(axang) converts a rotation given in axis-angle form, axang, to a homogeneous transformation matrix, tform. When using the transformation matrix, premultiply it with the coordinates to be transformed (as opposed to postmultiplying).

## Examples

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axang = [1 0 0 pi/2];
tform = axang2tform(axang)
tform = 4×4

1.0000         0         0         0
0    0.0000   -1.0000         0
0    1.0000    0.0000         0
0         0         0    1.0000

## 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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Homogeneous transformation matrix, specified by a 4-by-4-by-n matrix of n homogeneous transformations. When using the transformation matrix, premultiply it with the coordinates to be formed (as opposed to postmultiplying).

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

## Version History

Introduced in R2015a