three_rotation - rotated orthonormal transformation in 3D space

Calling Sequence

[tf_out]=three_rotation(tf_in, tp, tv, angle)

Parameters

• tf_in : the input 3D frame.
• tp : a pointer which locates in the rotated axis.
• tv : the dirction of the rotated axis.
• angle : the rotation angle.
• tf_out : the output 3D frame.

Description

an rotated orthonormal transformation in 3D space.

Examples

	tp=three_point(0,0,0);
	tf=three_frame();
	tv=three_vector(0,0,1);
	tf=three_rotation(tf,tp,tv,1);
 

Author

Chen jingyuan, Gan guangyong (IAPCM, Beijing,China.)

See Also

three_point ,   three_vector ,   three_frame ,   three_reflection ,   three_translation ,