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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 = createTranslation3d(varargin)
%CREATETRANSLATION3D Create the 4x4 matrix of a 3D translation.
%
% usage:
% TRANS = createTranslation3d(DX, DY, DZ);
% return the translation corresponding to DX and DY.
% The returned matrix has the form :
% [1 0 0 DX]
% [0 1 0 DY]
% [0 0 1 DZ]
% [0 0 0 1]
%
% TRANS = createTranslation3d(VECT);
% return the translation corresponding to the given vector [x y z].
%
%
% See also
% transforms3d, transformPoint3d, transformVector3d,
% createRotationOx, createRotationOy, createRotationOz, createScaling3d
% ------
% Author: David Legland
% E-mail: david.legland@inrae.fr
% Created: 2004-04-06
% Copyright 2004-2023 INRA - TPV URPOI - BIA IMASTE
if isempty(varargin)
% assert translation with null vector
dx = 0;
dy = 0;
dz = 0;
elseif length(varargin)==1
% translation vector given in a single argument
var = varargin{1};
dx = var(1);
dy = var(2);
dz = var(3);
else
% translation vector given in 3 arguments
dx = varargin{1};
dy = varargin{2};
dz = varargin{3};
end
% create the translation matrix
trans = [1 0 0 dx ; 0 1 0 dy ; 0 0 1 dz; 0 0 0 1];
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