- pytransform3d.rotations.axis_angle_from_two_directions(a, b)¶
Compute axis-angle representation from two direction vectors.
The rotation will transform direction vector a to direction vector b. The direction vectors don’t have to be normalized as this will be done internally. Note that there is more than one possible solution.
- aarray-like, shape (3,)
First direction vector
- barray-like, shape (3,)
Second direction vector
- aarray, shape (4,)
Axis of rotation and rotation angle: (x, y, z, angle). The angle is constrained to [0, pi].