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

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


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


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.

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

The result r is a four-element axis-angle rotation row vector. The first three elements specify the rotation axis, and the last element defines the angle of rotation.

Version History

Introduced in R2007b

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R2023b: To be removed

The vrrotmat2vec will be removed in a future release. Instead, use sim3d classes and Simulation 3D blocks to interface MATLAB® and Simulink® with the Unreal Engine® 3D simulation environment. To get started, see Create 3D Simulations in Unreal Engine Environment.