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# vrrotvec2mat

Convert rotation from axis-angle to matrix representation

## 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.

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

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.

## See Also

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