www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\angvec2r.m
%ANGVEC2R Convert angle and vector orientation to a 3x3 rotation matrix % % R = angvec2r(theta, v) % % Return an orthonormal rotation matrix, R, equivalent to a rotation of theta % about the vector v. % % See also: EUL2R, RPY2R % Copyright (C) 1993-2008, by Peter I. Corke % % This file is part of The Robotics Toolbox for Matlab (RTB). % % RTB is free software: you can redistribute it and/or modify % it under the terms of the GNU Lesser General Public License as published by % the Free Software Foundation, either version 3 of the License, or % (at your option) any later version. % % RTB is distributed in the hope that it will be useful, % but WITHOUT ANY WARRANTY; without even the implied warranty of % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the % GNU Lesser General Public License for more details. % % You should have received a copy of the GNU Leser General Public License % along with RTB. If not, see <http://www.gnu.org/licenses/>. function R = angvec2r(theta, k) cth = cos(theta); sth = sin(theta); vth = (1 - cth); kx = k(1); ky = k(2); kz = k(3); R = [ kx*kx*vth+cth ky*kx*vth-kz*sth kz*kx*vth+ky*sth kx*ky*vth+kz*sth ky*ky*vth+cth kz*ky*vth-kx*sth kx*kz*vth-ky*sth ky*kz*vth+kx*sth kz*kz*vth+cth ];