You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
35 lines
1.1 KiB
35 lines
1.1 KiB
%TROT2 SE2 rotation matrix
|
|
%
|
|
% T = TROT2(THETA) is a homogeneous transformation (3x3) representing a rotation
|
|
% of THETA radians.
|
|
%
|
|
% T = TROT2(THETA, 'deg') as above but THETA is in degrees.
|
|
%
|
|
% Notes::
|
|
% - Translational component is zero.
|
|
%
|
|
% See also ROT2, TRANSL2, TROTX, TROTY, TROTZ.
|
|
|
|
|
|
|
|
% Copyright (C) 1993-2015, by Peter I. Corke
|
|
%
|
|
% This file is part of The Robotics Toolbox for MATLAB (RTB).
|
|
%
|
|
% RTB is free software: you can redistribute it and/or modify
|
|
% it under the terms of the GNU Lesser General Public License as published by
|
|
% the Free Software Foundation, either version 3 of the License, or
|
|
% (at your option) any later version.
|
|
%
|
|
% RTB is distributed in the hope that it will be useful,
|
|
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
% GNU Lesser General Public License for more details.
|
|
%
|
|
% You should have received a copy of the GNU Leser General Public License
|
|
% along with RTB. If not, see <http://www.gnu.org/licenses/>.
|
|
%
|
|
% http://www.petercorke.com
|
|
|
|
function T = trot2(t, varargin)
|
|
T = [rot2(t, varargin{:}) [0 0]'; 0 0 1];
|