www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\trotz.m
%TROTZ Rotation about Z axis % % TR = TROTZ(theta) % % Returns a homogeneous transformation representing a rotation of theta % about the Z axis. % % See also: TROTX, TROTY, 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 T = trotz(t) T = [rotz(t) [0 0 0]'; 0 0 0 1];