rt_rotz - homogeneous transform for rotation about Z-axis[view code]
Return a homogeneous transformation representing a rotation of theta radians about the Z-axis.
// The following example shows how rt_rotz() can be used to generate a // homogeneous transform representing a rotation of 45degrees about the // Z-axis. Here, function rt_plot() is used to display result in a // graphical way. You can found further details on use of rt_plot() // reading its help page (quaternion/rt_plot). // A rotation of 45degrees about the Z-axis T = rt_rotz(%pi/4), // Plot the World frame orientation h0 = scf(0); a0 = h0.children; a0.tight_limits = "on"; a0.rotation_angles = [68, 40]; rt_plot(rt_quaternion(eye(3,3))); // Plot orientation for the new frame. // The Z-axis is in red whereas the X and the Y axes are in blue. // Note how the Z-axis direction and verse are unchanged, whereas the X // and the Y axes have been effectively rotated by 45degrees. rt_plot(rt_quaternion(T), "X", "blue", "Y", "blue", "Z", "red");
rt_roty, rt_rotz, rt_rotvec, quaternion/rt_plot,
Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32