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rotation

PURPOSE ^

ROTATION Encode and decode rotation matrices

SYNOPSIS ^

function [r,p,q]=rotation(x,y,z)

DESCRIPTION ^

ROTATION Encode and decode rotation matrices
 (1) r=rotation(x,y,angle) creates a matrix that rotates vectors in the
     plane containing x and y. A small positive angle moves x towards y.
 (2) [x,y,ang]=rotation(r) is the inverse of (1) above. The input argument r
     is assumed to be a rotation matrix: little error checking is done.
 (3) r=rotation(axis,angle)=rotation(axis*ang) only works for a 3-dimensional
     vector axis and creates a rotation of angle radians around axis.
 (4) [axis,ang]=rotation(r) is the inverse of (3) above for a 3x3 input matrix r

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function [r,p,q]=rotation(x,y,z)
0002 %ROTATION Encode and decode rotation matrices
0003 % (1) r=rotation(x,y,angle) creates a matrix that rotates vectors in the
0004 %     plane containing x and y. A small positive angle moves x towards y.
0005 % (2) [x,y,ang]=rotation(r) is the inverse of (1) above. The input argument r
0006 %     is assumed to be a rotation matrix: little error checking is done.
0007 % (3) r=rotation(axis,angle)=rotation(axis*ang) only works for a 3-dimensional
0008 %     vector axis and creates a rotation of angle radians around axis.
0009 % (4) [axis,ang]=rotation(r) is the inverse of (3) above for a 3x3 input matrix r
0010 
0011 %      Copyright (C) Mike Brookes 1998
0012 %      Version: $Id: rotation.m 713 2011-10-16 14:45:43Z dmb $
0013 %
0014 %   VOICEBOX is a MATLAB toolbox for speech processing.
0015 %   Home page: http://www.ee.ic.ac.uk/hp/staff/dmb/voicebox/voicebox.html
0016 %
0017 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0018 %   This program is free software; you can redistribute it and/or modify
0019 %   it under the terms of the GNU General Public License as published by
0020 %   the Free Software Foundation; either version 2 of the License, or
0021 %   (at your option) any later version.
0022 %
0023 %   This program is distributed in the hope that it will be useful,
0024 %   but WITHOUT ANY WARRANTY; without even the implied warranty of
0025 %   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0026 %   GNU General Public License for more details.
0027 %
0028 %   You can obtain a copy of the GNU General Public License from
0029 %   http://www.gnu.org/copyleft/gpl.html or by writing to
0030 %   Free Software Foundation, Inc.,675 Mass Ave, Cambridge, MA 02139, USA.
0031 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0032 
0033 l=length(x(:));
0034 if nargin>2
0035    x=x(:); x=x/sqrt(x'*x);
0036    y=y(:); y=y-y'*x*x; y=y/sqrt(y'*y);
0037    r=eye(l)+(cos(z)-1)*(x*x'+y*y')+sin(z)*(y*x'-x*y');
0038 elseif l==3
0039    x=x(:);
0040    lx=sqrt(x'*x);
0041    if nargin==1
0042       y=lx;
0043    end
0044    x=x/lx;
0045    xx=x*x';
0046    s=zeros(3,3);
0047    s([6 7 2])=x;
0048    s([8 3 4])=-x;
0049    r=xx+cos(y)*(eye(3)-xx)+sin(y)*s;
0050 else
0051    [v,d]=eig(x);
0052    [e,j]=sort(real(diag(d)));
0053    j1=j(1);
0054    an=angle(d(j1,j1));
0055    q=an;
0056    sq=sqrt(2);
0057    r=imag(v(:,j1))*sq;
0058    if r==0
0059       p=v(:,j1);
0060       r=v(:,j(2));
0061    else
0062       p=real(v(:,j1))*sq;
0063    end
0064    if nargout==2
0065       r=cross(r,p);
0066       p=an;
0067    end
0068 end

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