使用Matlab Function函数编写三个基本旋转矩阵与平移矩阵,源代码

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：

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：

% 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。