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Topic: Computing rotation matrix from one vector
Replies: 7   Last Post: Oct 28, 2011 2:50 PM

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Bruno Luong

Posts: 9,822
Registered: 7/26/08
Re: Computing rotation matrix from one vector
Posted: Mar 29, 2011 1:52 AM
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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'*(1-costheta)/sum(k.^2);


% Bruno

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