一 旋转矩阵
旋转矩阵(右手坐标系)
绕X轴旋转
![](https://img-blog.csdn.net/20130701101729046?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQva2ZxY29tZQ==/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
绕Y轴旋转
![](https://img-blog.csdn.net/20130701101821078?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQva2ZxY29tZQ==/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
绕Z轴旋转
![](https://img-blog.csdn.net/20130701101905312?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQva2ZxY29tZQ==/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
绕某个向量v绕XYZ旋转x,y,z进行旋转。v’ = Rz*Ry*Rx*v;
Matlab代码如下
syms sinx cosx siny cosy sinz cosz;
Rx = [1 0 0;0 cosx -sinx;0 sinx cosx];
Ry = [cosy 0 siny;0 1 0;-siny 0 cosy];
Rz = [cosz -sinz 0;sinz cosz 0;0 0 1];
R = Rz*Ry*Rx
输出:
R =
[ cosy*cosz, cosz*sinx*siny -