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32 lines
1.1 KiB
32 lines
1.1 KiB
%TROTX Rotation about X axis
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%
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% T = TROTX(THETA) is a homogeneous transformation (4x4) representing a rotation
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% radians about the x-axis.
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%
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% T = TROTX(THETA, 'deg') as above but THETA is in degrees.
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%
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% Notes::
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% - Translational component is zero.
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%
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% See also ROTX, TROTY, TROTZ.
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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 = trotx(t, varargin)
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T = [rotx(t, varargin{:}) [0 0 0]'; 0 0 0 1];
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