rt_rotvec - rotation about arbitrary axis[view code]
Return a homogeneous transformation representing a rotation of theta radians about the vector v.
// The following example shows how rt_rotvec() can be used to generate // a homogeneous transform for a specified axis/angle form in a direct // approach. // Let r be the versor which represents an axis of rotation in the space r = rt_unit([1, 1, 1]), // compute the homogeneous transform representing a rotation of 0.2 rad. // about r // by compounded transforms a = atan(r(2), r(1)); b = atan((r(1)^2 + r(2)^2)^(1/2), r(3)); T = rt_rotz(a) * rt_roty(b) * rt_rotz(0.2) * rt_roty(-b) * rt_rotz(-a), // by using rt_rotvec() (direct approach) T2 = rt_rotvec(r, 0.2),
rt_rotx, rt_roty, rt_rotz, rt_unit,
Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32
L. Sciavicco, B. Siciliano, Modelling and Control of Robot Manipulators. 2nd Edition, Springer-Verlag Advanced Textbooks in Control and Signal Processing Series, London, UK, 2000.