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36 lines
1.2 KiB
36 lines
1.2 KiB
%ANGVEC2TR Convert angle and vector orientation to a homogeneous transform
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%
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% T = ANGVEC2TR(THETA, V) is a homogeneous transform matrix equivalent to a
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% rotation of THETA about the vector V.
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%
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% Note::
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% - The translational part is zero.
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%
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% See also EUL2TR, RPY2TR, ANGVEC2R.
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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 T = angvec2tr(theta, k)
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if nargin < 2
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error('RTB:angvec2tr:badarg', 'bad arguments');
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end
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T = r2t( angvec2r(theta, k) );
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