hrx.m

针对移动机械臂运动学

function hr = hrx (c,o)
%HRX(ANGLE) or HRX(ANGLE,"OPTION") Homogeneous Rotation over X-axis.

%July ~ December 2005, by Reinaldo M. do Nascimento

try,c=mod(c,2*pi);o=0;catch,o=1;end
    cc = cos(c);
	sc = sin(c);
if nargin==2 & o==0
    if abs(cc) <= eps
        cc=0;
    end
    if abs(sc) <= eps
        sc=0;
    end
end
	hr =   [1	0	0	0
		    0  cc -sc	0
		    0  sc  cc	0
		    0	0	0	1];