Function navtk::navutils::axis_angle_to_dcm

Defined in File navigation.hpp

Function Documentation

Matrix3 navtk::navutils::axis_angle_to_dcm(const Vector3 &axis, double angle)

Converts an axis-angle rotation to the equivalent DCM.

If coordinate frame A is rotated by angle about axis to form coordinate frame B, then the DCM that is returned is the DCM that rotates a vector from frame B to frame A.

For example, if an NED frame (frame A) is rotated by 30 degrees about the down axis to form a platform frame (frame B) (i.e., yaw = 30 degrees, pitch = 0, roll = 0), then axis = [0, 0, 1], angle = 30 * PI / 180, and the DCM that is output will rotate an arbitrary vector \(\textbf{w}\) from frame B (platform frame) to frame A (NED):

\( \textbf{w}^\text{NED} = \textbf{C}_\text{P}^\text{NED} \textbf{w}^\text{P} \)