%ROTX Rotation about x % Function calculates incremental rotations about x y and z axes required % to transform frame T1 to T2. Rotations are calculated by forming dot % products between old and new pairs of orthogonal axes to get component % of rotation perpendicular to the pair of axes. % % Syntax: dO = twitch(T1, T2) % % Inputs: % T1 - frame 2 % T2 - frame 2 % % Outputs: % dO - incremental rotation % % See also: INVROTAXIS % Author: Travis Hydzik % Last revision: 19 October 2004 function dO = twitch(T1, T2) dO = [ T1(1:3,3)'*T2(1:3,2) % dtheta_x T1(1:3,1)'*T2(1:3,3) % dtheta_y T1(1:3,2)'*T2(1:3,1) ]; % dtheta_z