Rotation from two vectors

hade · November 29, 2019, 6:34am

Hi,

Has anybody knowledge about the calculation at the following link?

How can I rotate/orient the robot from point-A to point-B with two vectors using UR scipt codes?

gist.github.com

https://gist.github.com/peteristhegreat/3b76d5169d7b9fc1e333

fcn_RotationFromTwoVectors.m

function R=fcn_RotationFromTwoVectors(A, B)
% http://math.stackexchange.com/questions/180418/calculate-rotation-matrix-to-align-vector-a-to-vector-b-in-3d
% R*v1=v2
% v1 and v2 should be column vectors and 3x1

%% Method 1
% % 1. rotation vector
% w=cross(v1,v2);
% w=w/norm(w);
% w_hat=fcn_GetSkew(w);

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gist.github.com

https://gist.github.com/kevinmoran/b45980723e53edeb8a5a43c49f134724

noacos_derivation.md


# How to Calculate a Rotation Matrix to Align Vector A to Vector B in 3D

# Based on 'Avoiding Trigonometry' by Íñigo Quílez 
### Expanded derivation by Kevin - 29/11/18

## Introduction

Original article: https://iquilezles.org/www/articles/noacos/noacos.htm

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Rotation from two vectors

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