rot

(tmp_for_tar/misc/rot.m)

Function Synopsis

R = rot( a )

Help text

        R = rot( [ a1,a2,a3 ] )

 Make a 3 x 3 rotation matrix made by composition of

 rotation a(1), a(2), a(3) along x, y, z  axis,  

       [  c3 s3  0 ]   [  c2  0 s2 ]   [   1   0  0 ]
  R =  [ -s3 c3  0 ] x [   0  1  0 ] x [   0  c1 s1 ]
       [  0   0  1 ]   [ -s2  0 c2 ]   [   0 -s1 c1 ]

 See also : rota, rot

 Last modified: April 2001

Listing of function file tmp_for_tar/misc/rot.m

##        R = rot( [ a1,a2,a3 ] )
## 
## Make a 3 x 3 rotation matrix made by composition of
## 
## rotation a(1), a(2), a(3) along x, y, z  axis,  
##
##       [  c3 s3  0 ]   [  c2  0 s2 ]   [   1   0  0 ]
##  R =  [ -s3 c3  0 ] x [   0  1  0 ] x [   0  c1 s1 ]
##       [  0   0  1 ]   [ -s2  0 c2 ]   [   0 -s1 c1 ]
## 
## See also : rota, rot

## Author:        Etienne Grossmann  <etienne@isr.ist.utl.pt>
## Last modified: April 2001

function R = rot( a )

ca= cos(a); sa= sin(a);

R = [ca(3) sa(3)  0  ; -sa(3) ca(3)  0  ;   0     0      1 ] * ...
    [ca(2)  0  sa(2) ;   0      1    0  ;-sa(2)   0   ca(2)] * ...
    [    1  0     0  ;   0   ca(1) sa(1);  0   -sa(1) ca(1)];