I use the Gerardware program lsqman for this. Workflow would be something like:
REad in structure 1
REad in structure 2
calculate the operator to transform structure 2, domain 1 onto structure 1, domain 1 (EXplicit command)
APply the matrix
Calculate the operator to transform structure 2, domain 2 onto structure 1, domain 2 (EXplicit command)
SHow the operator - this will list several potentially useful ways to describe the motion of domain 2, including a rotation matrix, translation vector, rotation angle, etc.
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Kevin Jude, PhD (he/him/his)
Structural Biology Research Specialist, Garcia Lab
Howard Hughes Medical Institute
Stanford University School of Medicine
Beckman B177, 279 Campus Drive, Stanford CA 94305