How to find rotation matrix given two vectors in Matlab?

Hiii! Is there a function in Matlab which finds rotation matrix R given two vectors v1,v2 size dx1 so that Rv1=v2? If no, how can I code this? Thanks for your help

[Roger Stafford]

Specifying v1 and v2 (of the same magnitude) does not uniquely determine a rotation matrix. Place the base of the two vectors at the origin and connect the other ends with a straight line segment. Any axis through the origin and lying in the plane of the perpendicular bisector of that line segment can be used as a rotation axis that will rotate v1 into v2.

Answer 1

[Star Strider]

It depends on the result you want. Simple matrix right division will give you a mapping in ‘Method #1’, but if you want to estimate the angle, you have to use a parameter estimation approach in ‘Method #2’:

R = @(a) [cos(a)  -sin(a);  sin(a)  cos(a)];        % Parametric Rotation Matrix

v1 = rand(2, 1)                                     % Create Data
v2 = R(1.5)*v1                                      % Create Data

Rm = v2/v1;                                         % Matrix Right Division - Method #1
v2s1 = Rm*v1                                        % Check Result

SSECF = @(b) sum((v2 - R(b)*v1).^2);                % Sum-Squared_Error Cost Function
[B,SSE] = fminsearch(SSECF, 2);                     % Estimate Angle - Method #2
v2s = R(B)*v1                                       % Check Result