No BSD License  

Highlights from
Compute 3D rotation matrix

3.5

3.5 | 2 ratings Rate this file 60 Downloads (last 30 days) File Size: 1.13 KB File ID: #23417

Compute 3D rotation matrix

by

 

Simplifies computation of 3D rotation matrices.

| Watch this File

File Information
Description

Given input:
r: angle to rotate, in rads
Axis: axis of rotation, defined as a 3point which connects to the origin.

Output:
3x3 Matrix R such that for an arbitrary point v, Rv is the point corresponding to v rotated around the Axis.

% example:
% rotate around a random direction a random amount and then back
% the result should be an Identity matrix

r = rand(4,1);
rotationmat3D(r(1),[r(2),r(3),r(4)]) * rotationmat3D(-r(1),[r(2),r(3),r(4)])

ans =

    1.0000 0.0000 0.0000
    0.0000 1.0000 0
    0.0000 0 1.0000

%
% example2:
% rotate around z axis 45 degrees
 Rtest = rotationmat3D(pi/4,[0 0 1])
Rtest =

    0.7071 -0.7071 0
    0.7071 0.7071 0
         0 0 1.0000

MATLAB release MATLAB 7.8 (R2009a)
Tags for This File   Please login to tag files.
Please login to add a comment or rating.
Comments and Ratings (2)
30 Nov 2012 Tim Zaman

Excellent.

27 Oct 2011 Mohammad  

Contact us