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%ROTZ Rotation about Z axis % % R = ROTZ(theta) % % Returns a 3x3 rotation matrix representing a rotation of theta % about the Z axis. % % See also: ROTX, ROTY, 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 = rotz(t) ct = cos(t); st = sin(t); r = [ct -st 0 st ct 0 0 0 1];