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14 lines
297 B
14 lines
297 B
function [ M ] = getM( x , y, z , tx, ty, tz)
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Rx = [ 1 0 0 ; 0 cos(x) -sin(x) ; 0 sin(x) cos(x) ];
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Ry = [ cos(y) 0 sin(y) ; 0 1 0 ; -sin(y) 0 cos(x)];
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Rz = [ cos(z) -sin(z) 0 ; sin(z) cos(z) 0 ; 0 0 1 ];
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R = Rz*Ry*Rx;
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T = [tx;ty;tz];
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M = [R, T; 0,0,0,1];
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end
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