Home > FR3DSource > zAxisAngle.m

zAxisAngle

PURPOSE ^

zAxisAngle(R) computes the axis and angle of rotation in an orthogonal

SYNOPSIS ^

function [axis, angle] = zAxisAngle(R)

DESCRIPTION ^

 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

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

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

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