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40 lines
1.2 KiB
40 lines
1.2 KiB
%TRSCALE Homogeneous transformation for pure scale
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%
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% T = TRSCALE(S) is a homogeneous transform (4x4) corresponding to a pure
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% scale change. If S is a scalar the same scale factor is used for x,y,z,
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% else it can be a 3-vector specifying scale in the x-, y- and
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% z-directions.
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%
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% Copyright (C) 1993-2015, 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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%
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% http://www.petercorke.com
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function t = trscale(sx, sy, sz)
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if length(sx) > 1
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s = sx;
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else
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if nargin == 1
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s = [sx sx sx];
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else
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s = [sx sy sz];
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end
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end
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t = r2t(diag(s));
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