Subversion Repositories seema-scanner

Rev

Rev 213 | Rev 219 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 213 Rev 218
Line 104... Line 104...
104 
end
 104 
end
105 
 
 105 
 
106 
function R = axis2rmat(w, theta)
 106 
function R = axis2rmat(w, theta)
107 
 
 107 
 
108 
if(theta > 0.0001)
 108 
if(theta > 0.0001)
109 
    w = w./norm(w); % w should be a unit vector
 109 
    w = w./norm(w);
110 
end
 110 
end
111 
 
 111 
 
112 
P = w*transpose(w);
 112 
P = w*transpose(w);
113 
Q = [0 -w(3) w(2);
 113 
Q = [0 -w(3) w(2);
114 
     w(3) 0 -w(1);
 114 
     w(3) 0 -w(1);