2021-08-30matlab2019b，，旋转物体，旋转矩阵。下次结合IMU进行旋转

%完成选择一个空的坐标轴、、、、
% Create a 3-D plot
ax = axes('XLim', [-5 5], 'YLim', [-5 5], 'ZLim', [-5 5]);
xlabel(ax, 'X-axis');
ylabel(ax, 'Y-axis');
zlabel(ax, 'Z-axis');
% % Reverse the 2 axis directions to match the device coordinate system
%set(ax, 'Zdir', 'reverse');
%set(ax, 'Ydir', 'reverse');
grid on; 
view(3);%看三维的视图
% Define the surface color
color = [0.3010 0.7450 0.9330];
%用caxa画图，然后读出坐标。这里用薄片，因此z轴坐标等于0，分别是每个点的x,y,z坐标
markdiy=[3 0 0;
    1 1 0;
    1 3 0;
    -1 3 0;
    -1 1 0;
    -3 1 0;
    -3 2 0;
    -3.5 2 0;
    -3.5 -2 0;
    -3 -2 0;
    -3 -1 0;
    -1 -1 0;
    -1 -3 0;
    1 -3 0;
    1 -1 0;
]
%构建薄片，分别是xi，yi,zi坐标markdiy(:,1)，是markdiy的第一个数，就是x,坐标
p = patch(markdiy(:,1), markdiy(:,2),markdiy(:,3), 'red');

% 设置透明度
alpha(0.9)

%After the 3-D object is created, link the rotation matrix data acquired from the device to 
%the plot by using hgtransform.
%将轴和3D物体的坐标系
tfObject = hgtransform('Parent', ax);
set(p, 'Parent', tfObject);
pause(5);


yaw=0;
pitch=0;
roll=0;    
for i=1:10
    
   %绕着z轴旋转
     k=1;
    yawtemp=30;
    for k=1:10
           yaw=yawtemp;
           %生成旋转矩阵myRotationMatrix,3x3
            q=quaternion([yaw pitch roll],'eulerd','zyx','frame');
            myRotationMatrix=rotmat(q,'frame');
            %生成要绑定的变换矩阵4x4
            transformMatrix = eye(4);
            %将myRotationMatrix放入到transformMatrix中，
            %前面的上三角3x3矩阵是旋转矩阵
            for i=1:3
                 for j=1:3
                    transformMatrix(i,j)=myRotationMatrix(i,j);
                 end
            end
        %将旋转矩阵用于物体，得到旋转
        set(tfObject, 'Matrix', transformMatrix);
        %变换下一次的角度
        yawtemp=yawtemp+5;
        drawnow
        pause(0.2);
    end
    
    pause(5);

    k=1;
    pitchtemp=30;
    for k=1:5
            pitch=pitchtemp;
            q=quaternion([yaw pitch roll],'eulerd','zyx','frame');
            myRotationMatrix=rotmat(q,'frame');
            transformMatrix = eye(4);
            for i=1:3
               for j=1:3
                   transformMatrix(i,j)=myRotationMatrix(i,j);
               end
            end
            set(tfObject, 'Matrix', transformMatrix);
            pitchtemp=pitchtemp+10;
            drawnow
            pause(0.5);
    end
      
    pause(3)
    
    k=1;
    rolltemp=30;
    for k=1:5
            roll=rolltemp;
            q=quaternion([yaw pitch roll],'eulerd','zyx','frame');
            myRotationMatrix=rotmat(q,'frame');
            transformMatrix = eye(4);
            for i=1:3
               for j=1:3
                   transformMatrix(i,j)=myRotationMatrix(i,j);
               end
            end
            set(tfObject, 'Matrix', transformMatrix);
            rolltemp=rolltemp+10;
            drawnow
            pause(0.5);
      end
    pause(5);
end