sim.getRotationAxis

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

Synopsis

list axis, float angle = sim.getRotationAxis(list poseStart/matrixStart, list poseGoal/matrixGoal)

float[3] axis, float angle = sim.getRotationAxis(float[7]/float[12] poseStart/matrixStart, 
                                                 float[7]/float[12] poseGoal/matrixGoal)

Arguments

poseStart/matrixStart: the start pose (array of 7 values [x y z qx qy qz qw]) or transformation matrix (array of 12 values [Vx0 Vy0 Vz0 P0 Vx1 Vy1 Vz1 P1 Vx2 Vy2 Vz2 P2])
poseGoal/matrixGoal: the goal pose (array of 7 values [x y z qx qy qz qw]) or transformation matrix (array of 12 values [Vx0 Vy0 Vz0 P0 Vx1 Vy1 Vz1 P1 Vx2 Vy2 Vz2 P2])

Return values

axis: the rotation axis in absolute coordinates [Vx Vy Vz]
angle: the rotation angle