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    %ROTX Rotation about X axis
%
%	R = ROTX(theta)
%
% Returns a rotation matrix representing a rotation of theta 
% about the X axis.
%
% See also: ROTY, ROTZ, ROTVEC.

% 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 = rotx(t)
	ct = cos(t);
	st = sin(t);
	r =    [1	0	0
		0	ct	-st
		0	st	ct];