旋转矩阵
函数用于输出绕 x, y 或 z 轴旋转 θ \theta θ 度后的旋转矩阵。
参数:
- axis: 字符串,指明绕哪个轴旋转,仅限三个参数:‘x’, ‘y’, ‘z’
- angle: 数字,指明旋转角度
function [matrix] = rotation_matrix(axis, angle)
%UNTITLED Calculate the rotation matrix
% Args:
% axis: string type, is the rotation axis
% angle: number type, is the angle of rotation
%
% Return:
% matrix:a rotation matrix
if(axis == 'z')
matrix = [cos(angle) -sin(angle) 0;
sin(angle) cos(angle) 0;
0 0 1];
end
if(axis == 'y')
matrix = [cos(angle) 0 sin(angle);
0 1 0;
-sin(angle) 0 cos(angle)];
end
if(axis == 'x')
matrix = [1 0 0;
0 cos(angle) -sin(angle);
0 sin(angle) cos(angle)];
end
end