31 lines
1.1 KiB
Mathematica
31 lines
1.1 KiB
Mathematica
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function R = Rot(theta,axis)
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axis = abs(axis);
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if isnumeric(theta)
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if axis(1) == 1 && axis(2) == 0 && axis(3) == 0
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R = [1 0 0; 0 cos(theta) -sin(theta); 0 sin(theta) cos(theta)];
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elseif axis(1) == 0 && axis(2) == 1 && axis(3) == 0
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R = [cos(theta) 0 sin(theta); 0 1 0; -sin(theta) 0 cos(theta)];
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elseif axis(1) == 0 && axis(2) == 0 && axis(3) == 1
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R = [cos(theta) -sin(theta) 0; sin(theta) cos(theta) 0; 0 0 1];
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else
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% should return error
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R = [];
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end
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else
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if axis(1) == 1 && axis(2) == 0 && axis(3) == 0
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R = [sym([1 0 0]);
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sym(0) cos(theta) -sin(theta);
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sym(0) sin(theta) cos(theta)];
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elseif axis(1) == 0 && axis(2) == 1 && axis(3) == 0
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R = [cos(theta) sym(0) sin(theta);
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sym([0 1 0]);
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-sin(theta) sym(0) cos(theta)];
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elseif axis(1) == 0 && axis(2) == 0 && axis(3) == 1
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R = [cos(theta) -sin(theta) sym(0);
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sin(theta) cos(theta) sym(0);
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sym([0 0 1])];
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else
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% should return error
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R = [];
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end
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end
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