ANGVEC2TR Convert angle and vector orientation to a 4x4 homogeneous matrix T = angvec2tr(theta, v) Return a homogeneous transform matrix, T, equivalent to a rotation of theta about the vector v. See also: EUL2R, RPY2R, ANGVEC2R
0001 %ANGVEC2TR Convert angle and vector orientation to a 4x4 homogeneous matrix 0002 % 0003 % T = angvec2tr(theta, v) 0004 % 0005 % Return a homogeneous transform matrix, T, equivalent to a rotation of theta 0006 % about the vector v. 0007 % 0008 % See also: EUL2R, RPY2R, ANGVEC2R 0009 0010 % Copyright (C) 1993-2008, by Peter I. Corke 0011 % 0012 % This file is part of The Robotics Toolbox for Matlab (RTB). 0013 % 0014 % RTB is free software: you can redistribute it and/or modify 0015 % it under the terms of the GNU Lesser General Public License as published by 0016 % the Free Software Foundation, either version 3 of the License, or 0017 % (at your option) any later version. 0018 % 0019 % RTB is distributed in the hope that it will be useful, 0020 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0021 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0022 % GNU Lesser General Public License for more details. 0023 % 0024 % You should have received a copy of the GNU Leser General Public License 0025 % along with RTB. If not, see <http://www.gnu.org/licenses/>. 0026 0027 function T = angvec2tr(theta, k) 0028 0029 T = r2t( angvec2r(theta, k) );