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42 lines
1.4 KiB
42 lines
1.4 KiB
%OA2R Convert orientation and approach vectors to rotation matrix
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%
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% R = OA2R(O, A) is a rotation matrix for the specified orientation and
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% approach vectors (3x1) formed from 3 vectors such that R = [N O A] and
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% N = O x A.
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%
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% Notes::
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% - The submatrix is guaranteed to be orthonormal so long as O and A
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% are not parallel.
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% - The vectors O and A are parallel to the Y- and Z-axes of the coordinate
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% frame.
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%
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% See also RPY2R, EUL2R, OA2TR.
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for Matlab (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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function R = oa2r(o, a)
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if nargin < 2 || ~isvec(o) || ~isvec(a)
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error('RTB:oa2r:badarg', 'bad arguments');
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end
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o = o(:); a = a(:);
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n = cross(o, a);
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o = cross(a, n);
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R = [unit(n(:)) unit(o(:)) unit(a(:))];
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