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Given two rotation matrices A and B (rotated from the same initial frame), how can I find the rotation matrix that represents the change in rotation from A to B? (I actually want to find the Euler axis and angle that represents that change in rotation.)

My one idea seems too involved: Convert A and B into their equivalent Euler angles, find the difference in Euler angles, convert the difference back into a rotation matrix, and then convert the new rotation matrix into Euler axis and angle.

Thanks for the help!

  • 6
    $BA^T$ isn't what you're looking for?2011-12-01
  • 2
    You cannot add or subtract Euler angles to compose rotations.2012-03-31

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