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Description
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Retrieves an axis and rotation angle that brings one pose or transformation matrix onto another one. The translation part of the poses/matrices is ignored. This function, when used in combination with sim.rotateAroundAxis, can be used to build interpolations between transformation matrices. See also the section about positions, orientations and transformations |
C/C++
synopsis
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simInt simGetRotationAxis(const simFloat* matrixStart,const simFloat* matrixGoal,simFloat* axis,simFloat* angle)
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C/C++
parameters |
matrixStart: the start transformation matrix
matrixGoal: the goal transformation matrix
axis: the returned rotation axis in absolute coordinates
angle: the returned rotation angle
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C/C++
return value
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-1 if operation was not successful
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Lua
synopsis
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float[3] axis,float angle=sim.getRotationAxis(float[7]/float[12] poseStart/matrixStart,float[7]/float[12] poseGoal/matrixGoal)
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Lua
parameters |
poseStart/matrixStart: the start pose or transformation matrix
poseGoal/matrixGoal: the goal pose or transformation matrix
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Lua
return values
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axis: the rotation axis in absolute coordinates
angle: the rotation angle
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Python
synopsis |
list axis,float angle=sim.getRotationAxis(list poseStart/matrixStart,list poseGoal/matrixGoal) |
