Calculating with Rotations edit page

## Rotating Vectors

Let

a certain rotation. Then the rotation of the xvector is computed via

The inverse rotation is computed via the backslash operator

## Concatenating Rotations

Let

be two rotations. Then the rotation defined by applying first rotation one and then rotation two is computed by

## Rotational angle and the rotational axis

Then rotational angle and the axis of rotation can be computed via then commands angle(rot) and axis(rot)

If two rotations are specifies the command angle(rot1,rot2) computes the rotational angle between both rotations

## The inverse Rotation

The inverse rotation you get from the command inv(rot)

## Conversion into Euler Angles and Rodrigues Parametrisation

There are methods to transform rotations in almost any other parameterization of rotations as they are: