Arotation: Rotation axis and angle of rotation given a rotation matrix

Description Usage Arguments Details Value Author(s) References See Also Examples

View source: R/Arotation.R

Description

Given a 3 x 3 rotation matrix, the angle and the axis of rotation are calcualted.

Usage

1

Arguments

A

A 3 x 3 rotation matrix.

Details

If the user does not supply a rotation matrix a message will appear.

Value

A list including:

angle

The angle of rotation expressed in degrees.

axis

The axis of rotation. A vector of two components, latitude and longitude, expressed in degrees.

Author(s)

Michail Tsagris R implementation and documentation: Michail Tsagris mtsagris@uoc.gr and Giorgos Athineou <gioathineou@gmail.com>

References

Course webpage of Howard E. Haber. http://scipp.ucsc.edu/~haber/ph216/rotation_12.pdf

Ted Chang (1986). Spherical Regression. Annals of Statistics, 14(3): 907-924.

See Also

rot.matrix, rotation, rsop

Examples

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ksi <- c(25.31, 24.29)
theta <- 2.38
A <- rot.matrix(ksi, theta, rads = FALSE)
A
Arotation(A)

Example output

sh: 1: wc: Permission denied
Warning messages:
1: In rgl.init(initValue, onlyNULL) : RGL: unable to open X11 display
2: 'rgl.init' failed, running with 'rgl.useNULL = TRUE'. 
            [,1]        [,2]        [,3]
[1,]  0.99972305 -0.01748908  0.01574641
[2,]  0.01801771  0.99925667 -0.03408022
[3,] -0.01513867  0.03435450  0.99929505
$angle
[1] 2.38

$axis
 latitude longitude 
    25.31     24.29 

Directional documentation built on Nov. 8, 2021, 1:07 a.m.