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## Copyright (C) 2024 David Legland
## All rights reserved.
##
## Redistribution and use in source and binary forms, with or without
## modification, are permitted provided that the following conditions are met:
##
## 1 Redistributions of source code must retain the above copyright notice,
## this list of conditions and the following disclaimer.
## 2 Redistributions in binary form must reproduce the above copyright
## notice, this list of conditions and the following disclaimer in the
## documentation and/or other materials provided with the distribution.
##
## THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ''AS IS''
## AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
## IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
## ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR
## ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
## DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
## SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
## CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
## OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
## OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
##
## The views and conclusions contained in the software and documentation are
## those of the authors and should not be interpreted as representing official
## policies, either expressed or implied, of the copyright holders.
function trans = createRotationOx(varargin)
%CREATEROTATIONOX Create the 4x4 matrix of a 3D rotation around x-axis.
%
% TRANS = createRotationOx(THETA);
% Returns the transform matrix corresponding to a rotation by the angle
% THETA (in radians) around the Ox axis. A rotation by an angle of PI/2
% would transform the vector [0 1 0] into the vector [0 0 1].
%
% The returned matrix has the form:
% [1 0 0 0]
% [0 cos(THETA) -sin(THETA) 0]
% [0 sin(THETA) cos(THETA) 0]
% [0 0 0 1]
%
% TRANS = createRotationOx(ORIGIN, THETA);
% TRANS = createRotationOx(X0, Y0, Z0, THETA);
% Also specifies origin of rotation. The result is similar as performing
% translation(-X0, -Y0, -Z0), rotation, and translation(X0, Y0, Z0).
%
% See also
% transforms3d, transformPoint3d, createRotationOy, createRotationOz
%
% ------
% Author: David Legland
% E-mail: david.legland@inrae.fr
% Created: 2005-02-18
% Copyright 2005-2023 INRA - TPV URPOI - BIA IMASTE
% default values
dx = 0;
dy = 0;
dz = 0;
theta = 0;
% get input values
if length(varargin) == 1
% only one argument -> rotation angle
theta = varargin{1};
elseif length(varargin) == 2
% origin point (as array) and angle
var = varargin{1};
dx = var(1);
dy = var(2);
dz = var(3);
theta = varargin{2};
elseif length(varargin) == 4
% origin (x and y) and angle
dx = varargin{1};
dy = varargin{2};
dz = varargin{3};
theta = varargin{4};
end
% compute coefs
cot = cos(theta);
sit = sin(theta);
% create transformation
trans = [...
1 0 0 0;...
0 cot -sit 0;...
0 sit cot 0;...
0 0 0 1];
% add the translation part
t = [1 0 0 dx;0 1 0 dy;0 0 1 dz;0 0 0 1];
trans = t * trans / t;
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