vrrotvec2mat

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

vrrotvec2mat will be removed in a future release. For more information, see Version History.

Syntax

m = vrrotvec2mat(r)

m = vrrotvec2mat(r,options)

Description

m = vrrotvec2mat(r) returns a matrix representation of the rotation defined by the axis-angle rotation vector, r.

m = vrrotvec2mat(r,options) returns a matrix representation of rotation defined by the axis-angle rotation vector r, with the default algorithm parameters replaced by values defined in options.

To rotate a column vector of three elements, multiply it by the rotation matrix. To rotate a row vector of three elements, multiply it by the transposed rotation matrix.

Input Arguments

r — Rotation

vector (default)

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.

options — Options

structure (default)

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

m — Rotation matrix

matrix

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

Version History

Introduced in R2007b

R2023b: To be removed

The vrrotvec2mat 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.