22 lines
454 B
Mathematica
22 lines
454 B
Mathematica
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function [omghat, theta] = AxisAng3(expc3)
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% *** CHAPTER 3: RIGID-BODY MOTIONS ***
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% Takes A 3-vector of exponential coordinates for rotation.
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% Returns the unit rotation axis omghat and the corresponding rotation
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% angle theta.
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% Example Input:
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%
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% clear; clc;
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% expc3 = [1; 2; 3];
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% [omghat, theta] = AxisAng3(expc3)
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%
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% Output:
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% omghat =
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% 0.2673
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% 0.5345
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% 0.8018
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% theta =
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% 3.7417
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theta = norm(expc3);
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omghat = expc3 / theta;
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end
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