Rotate line about a point

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Vadim Koller
Vadim Koller on 28 Sep 2020
Answered: Amrtanshu Raj on 2 Oct 2020
How can i rotate a line about its end point? Also how can I keep the line sizes equal. I'm trying to represent the moving coordinate frame for the end effector of an robotic arm and I want to represent the change in x and y axis based on the rotation matrix.
Thank you

Answers (1)

Amrtanshu Raj
Amrtanshu Raj on 2 Oct 2020
You can simply translate the vector to the origin Multiply the point by the rotation Matrix and then again translate the point back to the rotation point (end point). The following code may help.
Rotation_matrix = eul2rotm([pi/2,0,0]) %rotation matrix
point1 = [1,2,0]; %end point of line, we will rotate about this point
point2 = [4,5,0]; %end point of line
Point2new = point1 + [point2-point1]* Rotation_matrix


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