016 <span class="comment">% Georges Dumont</span>
0017 <span class="comment">%________________________________________________________</span>
0018 
0019 u_r=cross(a1,a2)' / norm(cross(a1,a2));
0020 y=norm(cross(a1,a2)); <span class="comment">%sin theta</span>
0021 x=dot(a1,a2); <span class="comment">%cos theta</span>
0022 theta_r=atan2(y,x);
0023 
0024 R = <a href="Rodrigues.html" class="code" title="function R = Rodrigues(a,q)">Rodrigues</a>(u_r,theta_r);
0025 
0026 <span class="keyword">end</span></pre></