function [rotInfo] = calculateArmRot(dynamicBasicInfo,theta)
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 计算机器人各个轴臂的姿态，四元素/旋转矩阵...
% dynamicBasicInfo: PSA机械臂的基本信息
% setupInfo: SUA(setup arm)状态，各个轴的角度等 []
% state:系统动力学的状态变量
% 假设：关节变形和柔性体变形都是小量，忽略其对姿态的影响
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
rotInfo = struct;
temp = struct;
temp.rot       = eye(3);
temp.rotTran   = eye(3);
rotInfo.link = ([temp temp temp temp temp temp temp temp temp]);
rotInfo.motor = ([temp temp temp temp temp temp temp temp temp]);
rotInfo.link(1).rot       = rot(dynamicBasicInfo.link(1).jointAxis,theta(1));
rotInfo.link(1).rotTran   = rotInfo.link(1).rot';

rotInfo.motor(1).rot       = rotInfo.link(1).rot;
rotInfo.motor(1).rotTran   = rotInfo.motor(1).rot';
for i=2:9
    if dynamicBasicInfo.link(i).jointAxis>3
        rotInfo.link(i).rot  = rotInfo.link(i-1).rot*rot(dynamicBasicInfo.link(i).jointAxis-3,theta(i));
    else
        rotInfo.link(i).rot  = rotInfo.link(i-1).rot;
    end
    rotInfo.link(i).rotTran   = rotInfo.link(i).rot';
    rotInfo.motor(i).rot       = rotInfo.link(i).rot;
    rotInfo.motor(i).rotTran   = rotInfo.motor(i).rot';
end