31 lines
475 B
Matlab
31 lines
475 B
Matlab
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function [F] = FrameTranslation (translation, euler_angles)
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% Here we store the result
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Result = zeros (4,4);
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Result(4,4) = 1;
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% Set the translation part:
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Result (1:3, 4) = -translation;
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% Calculate the rotations
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Rotation = eye (3,3);
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% Z Rotation
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RotZ = eye (3,3);
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if (euler_angles(1) != 0.)
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s = sin (euler_angles(1));
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c = cos (euler_angles(1));
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RotZ = [c, s, 0;
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-s, c, 0;
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0, 0, 1];
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end
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Rotation = RotZ;
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Result (1:3, 1:3) = Rotation;
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F = Result;
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end;
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