22 lines
502 B
Matlab
22 lines
502 B
Matlab
function R = axisAngle2rotMat(axis, angle)
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kx = axis(:,1);
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ky = axis(:,2);
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kz = axis(:,3);
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cT = cos(angle);
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sT = sin(angle);
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vT = 1 - cos(angle);
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R(1,1,:) = kx.*kx.*vT + cT;
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R(1,2,:) = kx.*ky.*vT - kz.*sT;
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R(1,3,:) = kx.*kz.*vT + ky.*sT;
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R(2,1,:) = kx.*ky.*vT + kz.*sT;
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R(2,2,:) = ky.*ky.*vT + cT;
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R(2,3,:) = ky.*kz.*vT - kx.*sT;
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R(3,1,:) = kx.*kz.*vT - ky.*sT;
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R(3,2,:) = ky.*kz.*vT + kx.*sT;
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R(3,3,:) = kz.*kz.*vT + cT;
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end
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