pytransform3d.rotations.matrix_from_two_vectors¶
- pytransform3d.rotations.matrix_from_two_vectors(a, b)[source]¶
Compute rotation matrix from two vectors.
We assume that the two given vectors form a plane so that we can compute a third, orthogonal vector with the cross product.
The x-axis will point in the same direction as a, the y-axis corresponds to the normalized vector rejection of b on a, and the z-axis is the cross product of the other basis vectors.
- Parameters:
- aarray-like, shape (3,)
First vector, must not be 0
- barray-like, shape (3,)
Second vector, must not be 0 or parallel to a
- Returns:
- Rarray, shape (3, 3)
Rotation matrix
- Raises:
- ValueError
If vectors are parallel or one of them is the zero vector
