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oa2r

Convert orientation and approach vectors to rotation matrix

R = oa2r(o, a) is an SO(3) rotation matrix (3x3) for the specified orientation and approach vectors (3x1) formed from 3 vectors such that R = [N o a] and N = o x a.

Notes

References

See also

rpy2r, eul2r, oa2tr


 

© 1990-2014 Peter Corke.