pytransform3d.rotations
.axis_angle_from_two_directions#
- pytransform3d.rotations.axis_angle_from_two_directions(a, b)[source]#
Compute axis-angle representation from two direction vectors.
The rotation will transform direction vector a to direction vector b. The direction vectors don’t have to be normalized as this will be done internally. Note that there is more than one possible solution.
- Parameters:
- aarray-like, shape (3,)
First direction vector
- barray-like, shape (3,)
Second direction vector
- Returns:
- aarray, shape (4,)
Axis of rotation and rotation angle: (x, y, z, angle). The angle is constrained to [0, pi].
Examples using pytransform3d.rotations.axis_angle_from_two_directions
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Axis-Angle Representation from Two Direction Vectors
Axis-Angle Representation from Two Direction Vectors