使用Matlab Function函数编写三个基本旋转矩阵与平移矩阵,源代码
时间: 2024-02-12 12:06:50 浏览: 75
以下是使用Matlab Function函数编写三个基本旋转矩阵与平移矩阵的源代码:
```matlab
function [R_x, R_y, R_z, T] = transformation_matrices(theta_x, theta_y, theta_z, t)
% transformation_matrices: function to generate three basic rotation matrices and a translation matrix
% Inputs:
% theta_x: rotation angle around x-axis in radians
% theta_y: rotation angle around y-axis in radians
% theta_z: rotation angle around z-axis in radians
% t: translation vector
% Outputs:
% R_x: rotation matrix around x-axis
% R_y: rotation matrix around y-axis
% R_z: rotation matrix around z-axis
% T: translation matrix
% Rotation matrices
R_x = [1 0 0; 0 cos(theta_x) -sin(theta_x); 0 sin(theta_x) cos(theta_x)];
R_y = [cos(theta_y) 0 sin(theta_y); 0 1 0; -sin(theta_y) 0 cos(theta_y)];
R_z = [cos(theta_z) -sin(theta_z) 0; sin(theta_z) cos(theta_z) 0; 0 0 1];
% Translation matrix
T = [1 0 0 t(1); 0 1 0 t(2); 0 0 1 t(3); 0 0 0 1];
end
```
调用示例:
```matlab
% Example call
theta_x = pi/4; % Rotation angle around x-axis
theta_y = pi/3; % Rotation angle around y-axis
theta_z = pi/6; % Rotation angle around z-axis
t = [1 2 3]; % Translation vector
[R_x, R_y, R_z, T] = transformation_matrices(theta_x, theta_y, theta_z, t);
```
其中,`theta_x`、`theta_y`、`theta_z`分别是绕x轴、y轴、z轴旋转的角度,单位为弧度;`t`是平移向量。函数返回的是三个旋转矩阵和一个平移矩阵。
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