Given two vectors, create a rotation matrix to rotate from A to B, in matlab

fcn_RotationFromTwoVectors.m

function R=fcn_RotationFromTwoVectors(A, B)
% http://math.stackexchange.com/questions/180418/calculate-rotation-matrix-to-align-vector-a-to-vector-b-in-3d
% R*v1=v2
% v1 and v2 should be column vectors and 3x1

%% Method 1
% % 1. rotation vector
% w=cross(v1,v2);
% w=w/norm(w);
% w_hat=fcn_GetSkew(w);
% % 2. rotation angle
% cos_tht=v1'*v2/norm(v1)/norm(v2);
% tht=acos(cos_tht);
% % 3. rotation matrix, using Rodrigues' formula
% R=eye(size(v1,1))+w_hat*sin(tht)+w_hat^2*(1-cos(tht));
% 
% function x_skew=fcn_GetSkew(x)
% x_skew=[0 -x(3) x(2);
%  x(3) 0 -x(1);
%  -x(2) x(1) 0];

%% Method 2
% g = [ dot(A,B) -norm(cross(A,B)) 0;
% 	norm(cross(A,B)) dot(A,B)  0;
% 	0              0           1];
% 
% f = [ A (B-dot(A,B)*A)/norm(B-dot(A,B)*A) cross(B,A) ];
% 
% R = f*g/f;

%% Method 3
v = cross(A,B);
ssc = [0 -v(3) v(2); v(3) 0 -v(1); -v(2) v(1) 0];
R = eye(3) + ssc + ssc^2*(1-dot(A,B))/(norm(v))^2;

Thanks ! just what I was looking for. One minor improvement would be to offer an option to return normalised matrix.