1 %% Copyright (c) 2011, INRA
2 %% 2004-2011, David Legland <david.legland@grignon.inra.fr>
3 %% 2011 Adapted to Octave by Juan Pablo Carbajal <carbajal@ifi.uzh.ch>
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35 %% @deftypefn {Function File} {@var{T} = } createRotation (@var{theta})
36 %% @deftypefnx {Function File} {@var{T} = } createRotation (@var{point}, @var{theta})
37 %% @deftypefnx {Function File} {@var{T} = } createRotation (@var{x0}, @var{y0}, @var{theta})
38 %% Create the 3*3 matrix of a rotation.
40 %% Returns the rotation corresponding to angle @var{theta} (in radians)
41 %% The returned matrix has the form :
42 %% [cos(theta) -sin(theta) 0]
43 %% [sin(theta) cos(theta) 0]
46 %% @var{point} or (@var{x0},@var{y0}), specifies origin of rotation. The result is similar as performing
47 %% translation(-@var{x0},-@var{y0}), rotation(@var{theta}), and translation(@var{x0},@var{y0}).
50 %% @seealso{transforms2d, transformPoint, createTranslation, createScaling}
53 function trans = createRotation(varargin)
61 if length(varargin)==1
64 elseif length(varargin)==2
65 % origin point (as array) and angle
70 elseif length(varargin)==3
71 % origin (x and y) and angle
80 tx = cy*sit - cx*cot + cx;
81 ty = -cy*cot - cx*sit + cy;
83 % create transformation matrix
84 trans = [cot -sit tx; sit cot ty; 0 0 1];
89 %! trans = createRotation(0);
90 %! assert (trans, [1 0 0;0 1 0;0 0 1], 1e-6);
93 %! trans = createRotation(pi/2);
94 %! assert (trans, [0 -1 0; 1 0 0; 0 0 1], 1e-6);
97 %! trans = createRotation(pi);
98 %! assert (trans, [-1 0 0;0 -1 0;0 0 1], 1e-6);
101 %! trans = createRotation(3*pi/2);
102 %! assert (trans, [0 1 0; -1 0 0; 0 0 1], 1e-6);
107 %! trans1 = createRotation(p0, theta);
108 %! t1 = createTranslation(-p0);
109 %! rot = createRotation(theta);
110 %! t2 = createTranslation(p0);
111 %! trans2 = t2*rot*t1;
112 %! assert (trans1, trans2, 1e-6);