> Here is a short code to illustrate that the problem of finding 3D rotation matrix R such that R*u = v has infinity solutions: > > % Input vectors of norm 1 > u = rand(3,1); > u = u/norm(u) > v = randn(3,1) ; > v = v/norm(v); > ...
To be clear, in relation of my post #3, the connection with the original problem is:
u = [0 0 1]'; v = [-J,I,K]';
The solution is given by: r = theta1; p = -theta2; y = theta3.
where theta1, theta2, theta3 are 3 Euler's angles of (3x3) matrix R, when using the convention R = [Z1*X2*Y3].