Miscellaneous

Note all angles are in radians.

rotz

rotz(angle)

Parameters:

angle (double) – The angle of rotation in radians.

Returns:

R – The rotation matrix for a rotation about the z-axis.

Return type:

3x3 double

rotz_vec

rotz_vec(angles)

Param:

angle: The angles of rotation in radians.

Returns:

R – The rotation matrix for a rotation about the z-axis for each angle.

Return type:

3x3xN double

roty

roty(angle)

Parameters:

angle (double) – The angle of rotation in radians.

Returns:

R – The rotation matrix for a rotation about the y-axis.

Return type:

3x3 double

chord2ang

chord2ang(chord, diameter)

Parameters:

• chord (double) – The chord length.

• diameter (double) – The diameter of the circle.

Returns:

angle – The angle subtended by the chord of the circle.

Return type:

double