Convert axis/angle rotation to rotation matrix
Simulink 3D Animation / Utilities
The VR Rotation to Rotation Matrix block converts the axis / angle rotation representation used for defining rotations in virtual reality to a 3-by-3 rotation matrix
Input 1— Axis/Angle rotation
Input rotation, specified as a 4-element vector in axis/angle notation,. The first three elements specify the axis of rotation and the fourth element specifies the angle.
Output 1— Rotation matrix
3D rotation, returned as a 3-by-3 columnwise defined matrix, also known as a direction cosine matrix.
A representation of a three-dimensional spherical rotation as a 3-by-3 real, orthogonal matrix R: RTR = RRT = I, where I is the 3-by-3 identity and RT is the transpose of R. This matrix is also known as the direction cosine matrix (DCM). The DCM is the orientation of the object in space, relative to its parent node.
Maximum value to treat input value as zero— Effective zero value
1e-12(default) | scalar
Input is considered to be zero if it is equal to, or lower than, this value. By default, the parameter is set to ε = 1e-12.