Calculate rotation between two vectors
r = vrrotvec(a,b)
r = vrrotvec(a,b,options)
r = vrrotvec(a,b) calculates a rotation needed to transform the 3D
vector a to the 3D vector b.
r = vrrotvec(a,b,options) calculates the rotation with the default
algorithm parameters replaced by values defined in options.
The options structure contains the parameter
epsilon that represents the value below which a number will be treated
as zero (default value is 1e-12).
The result, r, is a four-element axis-angle rotation row vector. The
first three elements specify the rotation axis, and the last element defines the angle of
rotation.