?? rot_matrix.m
字號:
% computes rotation matrix using Rodriguez formula
function [rot_matrix] = rot_matrix(omega,theta)
if nargin == 1
theta = norm(omega);
omega = omega/norm(omega);
end;
omega_hat = [0 -omega(3) omega(2);
omega(3) 0 -omega(1);
-omega(2) omega(1) 0 ];
norm_omega = norm(omega);
if (norm(omega) ~= 0)
rot_matrix = diag([1,1,1])+(omega_hat./norm_omega).* sin(norm_omega*theta) ...
+ ((omega_hat^2)./norm_omega^2) .* (1 - cos(norm_omega*theta));
else
rot_matrix = diag([1 1 1]);
end;
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