Scilab Function
Last update : April 2007

rt_rotz - homogeneous transform for rotation about Z-axis[view code]

Calling Sequence

T = rt_rotz(theta)



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];

   // 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");


See Also

rt_roty,  rt_rotz,  rt_rotvec,  quaternion/rt_plot,  


original Matlab version by

Peter I. Corke CSIRO Manufacturing Science and Technology

Scilab implementation by

Matteo Morelli Interdepartmental Research Center "E. Piaggio", University of Pisa


Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32

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