Description Usage Arguments Details Value Author(s) Examples
rot.comb computes the combined rotation vector for two input rotation vectors.
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rotvec1 |
a numeric vector of length 4, the first 3 components specify a rotation axis and the last component is the rotation angle in radians |
rotvec2 |
a numeric vector of length 4, the first 3 components specify a rotation axis and the last component is the rotation angle in radians |
The rot.comb helper function computes the combined rotation vector for two input rotation vectors representing the sequential rotation of a 3D-object around two coordinate axis. In each rotation vector, the first 3 components represent the rotation axis (for the input vectors, this can be c(1,0,0) for the x-axis, c(0,1,0) for y-axis or c(0,0,1) for the z-axis), and the last component represent the rotation angle in radians. The computation is achieved by multypling the quaternion-representations of the input vectors. Please note that this multiplication is not commutative, i.e. the order of the input rotation vectors is important.
Returns a numeric vector of length 4, where the first 3 components represent a rotation axis and the last component is rotation angle in radians.
Enrico Glaab
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