%ROTX Rotation about x % Homogeneous transform for rotation about x axis % % Syntax: T = rotx(theta) % % Inputs: % theta - angle to rotate about x % % Outputs: % T - homogeneous rotation transformation % % See also: ROTY, ROTZ % Author: Travis Hydzik % Last revision: 19 October 2004 function T = rotx(theta) T = [ 1 0 0 0 0 cos(theta) -sin(theta) 0 0 sin(theta) cos(theta) 0 0 0 0 1]; % alternatively % T = rot([1 0 0], theta)