zAxisAngle(R) computes the axis and angle of rotation in an orthogonal matrix R, then makes the axis point up and the angle be between -90 and 270 degrees
0001 % zAxisAngle(R) computes the axis and angle of rotation in an orthogonal 0002 % matrix R, then makes the axis point up and the angle be between -90 and 270 0003 % degrees 0004 0005 0006 function [axis, angle] = zAxisAngle(R) 0007 0008 [axis, angle] = zAxisAngleRadians(R); 0009 0010 angle = angle*57.29577951308232; 0011 0012 if axis(3) < 0, % make axis point up 0013 axis = -axis; 0014 angle = -angle; 0015 end 0016 0017 if angle < -90, % make angles be between -90 and 270 degrees 0018 angle = angle + 360; 0019 end 0020