Global to Local Coordinate Transformation Matrix

T = trans_matrix_beam3d(x0,y0,z0,x1,y1,z1,alpha)

Description

The function calculates the Global to Local coordinate transformation matrix for a beam in space. [x0,y0,z0] and [x1,y1,z1] are the coordinates of the beam ends. alpha is the twist over the axis perpendicular to the beam cross sectional area, usually set to 0.

• MATLAB release: MATLAB 7.1.0 (R14SP3)

[urs (us) schwarz]

sin(alfa) and cos(alfa) are computed repeatedly; why not create re-usabel variables, eg,
sina=sin(alfa);
cosa=cos(alfa);
for the matrix
just a thought
us

[F. Moreira]

Very Usefull. Thanks

[Eshwar Pawar]

I'm very very thankful to u !!!

[Aeshan]

I was wondering if you could do the same thing for a set of joint angles for a long list of coordinates