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41 lines
1.4 KiB
41 lines
1.4 KiB
%ANGVEC2R Convert angle and vector orientation to a rotation matrix
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%
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% R = ANGVEC2R(THETA, V) is an orthonormal rotation matrix, R,
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% equivalent to a rotation of THETA about the vector V.
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%
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% See also eul2r, rpy2r.
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for Matlab (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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function R = angvec2r(theta, k)
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if nargin < 2 || ~isscalar(theta) || ~isvec(k)
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error('RTB:angvec2r:badarg', 'bad arguments');
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end
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cth = cos(theta);
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sth = sin(theta);
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vth = (1 - cth);
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kx = k(1); ky = k(2); kz = k(3);
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% from Paul's book, p. 28
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R = [
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kx*kx*vth+cth ky*kx*vth-kz*sth kz*kx*vth+ky*sth
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kx*ky*vth+kz*sth ky*ky*vth+cth kz*ky*vth-kx*sth
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kx*kz*vth-ky*sth ky*kz*vth+kx*sth kz*kz*vth+cth
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];
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