Rotating Vectors
Let
a certain rotation. Then the rotation of the xvector is computed via
The inverse rotation is computed via the backslash operator
Concatenating Rotations
Let
be two rotations. Then the rotation defined by applying first rotation one and then rotation two is computed by
Rotational angle and the rotational axis
Then rotational angle and the axis of rotation can be computed via then commands angle(rot) and axis(rot)
If two rotations are specifies the command angle(rot1,rot2) computes the rotational angle between both rotations
The inverse Rotation
The inverse rotation you get from the command inv(rot)
Conversion into Euler Angles and Rodrigues Parametrisation
There are methods to transform rotations in almost any other parameterization of rotations as they are:
- Euler(rot) in Euler angle
- Rodrigues(rot) in Rodrigues parameter