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rotx.m
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rotx.m
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%ROTX SO(3) rotation about X axis
%
% R = ROTX(THETA) is an SO(3) rotation matrix (3x3) representing a rotation of THETA
% radians about the x-axis.
%
% R = ROTX(THETA, 'deg') as above but THETA is in degrees.
%
% See also TROTX, ROTY, ROTZ, ANGVEC2R, ROT2, SO3.Rx.
% Copyright (C) 1993-2019 Peter I. Corke
%
% This file is part of The Spatial Math Toolbox for MATLAB (SMTB).
%
% Permission is hereby granted, free of charge, to any person obtaining a copy
% of this software and associated documentation files (the "Software"), to deal
% in the Software without restriction, including without limitation the rights
% to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
% of the Software, and to permit persons to whom the Software is furnished to do
% so, subject to the following conditions:
%
% The above copyright notice and this permission notice shall be included in all
% copies or substantial portions of the Software.
%
% THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
% IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
% FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
% COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
% IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
% CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
%
% https://github.com/petercorke/spatial-math
function R = rotx(t, deg)
assert((isreal(t) & isscalar(t)) | isa(t, 'sym'), ...
'SMTB:rotx:badarg', 'theta must be a real scalar');
if nargin > 1 && strcmp(deg, 'deg')
t = t *pi/180;
end
ct = cos(t);
st = sin(t);
% make almost zero elements exactly zero
if ~isa(t, 'sym')
if abs(st) < eps
st = 0;
end
if abs(ct) < eps
ct = 0;
end
end
% create the rotation matrix
R = [
1 0 0
0 ct -st
0 st ct
];
end