
Re: Computing rotation matrix from one vector
Posted:
Mar 29, 2011 1:52 AM


Note thet R cannot be NOT uniquely determined from ONE vector and its rotation. You need at least two pairs. u = [ 0.245 0.563 0.055 ]'; v = [ 0.3 0.5 0.2 ]' ;
u1 = u/norm(u) v1 = v/norm(v)
k = cross(u1,v1); % Rodrigues's formula: costheta = dot(u1,v1); R =[ 0 k(3) k(2); k(3) 0 k(1); k(2) k(1) 0]; R = costheta*eye(3) + R + k*k'*(1costheta)/sum(k.^2);
disp(v) disp(R*u)
% Bruno

