# rotationMatrix

## PURPOSE

Performs different operations dealing with a rotation matrix

## SYNOPSIS

function varargout=rotationMatrix(varargin)

## DESCRIPTION

     Performs different operations dealing with a rotation matrix

     USAGE
      R = rotationMatrix( M )
      [u,theta] = rotationMatrix( R )
      R = rotationMatrix( theta )
      R = rotationMatrix( u )
      R = rotationMatrix( u, theta )
      R = rotationMatrix( th1, th2, th3 )
      R = rotationMatrix( R2 )

     INPUTS 1 - Finds the closest rotation matrix to a given matrix M
      M       - 3x3 matrix

     INPUTS 2 - Extract the axis and the angle of a 3x3 rotation matrix
      R       - 3x3 Rotation matrix

     INPUTS 3 - Creates a 2x2 rotation matrix from an angle
      theta   - angle of rotation (radians)

     INPUTS 4 - Creates a 3x3 rotation matrix from a rotation vector
      u       - 1x3 or 3x1 axis of rotation - norm is theta

     INPUTS 5 - Creates a 3x3 rotation matrix from a rotation vector
      u       - axis of rotation
      theta   - angle of rotation (radians)

     INPUTS 6 - Creates a 3x3 rotation matrix from 3 angles (around fixed
                axes)
      th1     - angle with respect to X axis
      th2     - angle with respect to Y axis
      th3     - angle with respect to Z axis
          such that R = Rx*Ry*Rz

     INPUTS 7 - Creates the full 3x3 rotation matrix from its first 2 rows
      R       - 2x3 first two rows of the rotation matrix

     INPUTS 8 - Extract the 3 angles of a 3x3 rotation matrix
      R       - 3x3 Rotation matrix

     OUTPUTS 1,4,5,6,7
      R       - 3x3 rotation matrix

     OUTPUTS 2
      u       - axis of rotation
      theta   - angle of rotation (radians)

     OUTPUTS 3
      R       - 2x2 Rotation matrix

     OUTPUTS 8
      th1     - angle with respect to X axis
      th2     - angle with respect to Y axis
      th3     - angle with respect to Z axis
         such that R = Rx*Ry*Rz

     EXAMPLE 1
      R3 = rotationMatrix( [0 0 1], pi/4 )+rand(3)/50
      R3r = rotationMatrix( R3 )
      [u,theta]  = rotationMatrix( R3r )

     EXAMPLE 2
      R3 = rotationMatrix( [0 0 1], pi/4 );
      [u,theta]  = rotationMatrix( R3 )

     EXAMPLE 3
      R2 = rotationMatrix( pi/4 )

     EXAMPLE 4
      R3 = rotationMatrix( [0 0 .5] )

     EXAMPLE 5
      R3 = rotationMatrix( [0 0 1], pi/4 )

     EXAMPLE 6
      R3 = rotationMatrix( pi/4,pi/4,0 )

     EXAMPLE 7
      R3 = rotationMatrix( pi/4,pi/4,0 )
      R3bis = rotationMatrix( R3(1:2,:) )

     EXAMPLE 7
      [th1 th2 th3] = rotationmatrix( rotationMatrix( pi/4,pi/4,0 ) );

     EXAMPLE 8
      [th1 th2 th3]=rotationMatrix(rotationMatrix(1,2,3))

     See also

     Piotr's Image&Video Toolbox      Version 2.35
     Copyright 2012 Piotr Dollar.  [pdollar-at-caltech.edu]
     Please email me if you find bugs, or have suggestions or questions!
     Licensed under the Simplified BSD License [see external/bsd.txt]