rotg

(tmp_for_tar/misc/rotg.m)

Function Synopsis

R = rotg( a , r )

Help text

        R = rotg( [ a1,a2,a3 ] ,r  )

  Returns a 3 x 3 rotation matrix R = rot([a b c])*r
  - r is a rotation matrix.
  - Provides local a parametrization of rotations centered in r.

 See also : rotvg, rota,rotv,rot

 Last modified: April 2001

Listing of function file tmp_for_tar/misc/rotg.m

##        R = rotg( [ a1,a2,a3 ] ,r  )
##
##  Returns a 3 x 3 rotation matrix R = rot([a b c])*r
##  - r is a rotation matrix.
##  - Provides local a parametrization of rotations centered in r.
##
## See also : rotvg, rota,rotv,rot
##

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

function R = rotg( a , r )


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)];


R = R*r ;