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tf2 How to generate rotation matrix from axis-angle rotation?

indigo
tf2

asked 2018-06-23 12:11:20 -0500

tanasis
97 ●14 ●17 ●23

Is there a build-in tf2 functionality where we can generate a rotation matrix given an axis (tf2::Vector3) and an angle (double). E.g. Suppose you have:

tf2::Vector3 vec(2,3,4); // by axis I mean - any - axis, not just x,y,z
double angle_rads=1.57;
tf2::Matrix3x3 rotation_matrix(vec,rads); // <-- is there an easy way like this?

Thanks!

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answered 2018-06-23 12:26:11 -0500

tanasis
97 ●14 ●17 ●23

OK found it my self :) For people that are wondering (it goes through Quaternions):

tf2::Quaternion q;
q.setRotation(rot_vec,angle);
tf2::Matrix3x3 R(q);

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Asked: 2018-06-23 12:11:20 -0500

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Last updated: Jun 23 '18

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tf2 How to generate rotation matrix from axis-angle rotation?