20 lines
339 B
Mathematica
20 lines
339 B
Mathematica
|
function [ Rx ] = RotX(alphaX, degrad)
|
||
|
|
|
||
|
|
% Authors: Quentin Leboutet, Julien Roux, Alexandre Janot and Gordon Cheng
|
||
|
|
%
|
||
|
|
% Returns the rotation matrix around the X axis with angle alphaX.
|
||
|
|
|
||
|
|
if nargin > 1 && strcmp(degrad, 'deg')
|
||
|
|
alphaX = alphaX *pi/180;
|
||
|
|
end
|
||
|
|
|
||
|
|
ca=cos(alphaX);
|
||
|
|
sa=sin(alphaX);
|
||
|
|
|
||
|
|
Rx=[1 0 0;
|
||
|
|
0 ca -sa;
|
||
|
|
0 sa ca];
|
||
|
|
|
||
|
|
end
|
||
|
|
|