angvec2tr.m

Robot tool box - provides many functions that are useful in robotics including such things as kinem

%ANGVEC2TR Convert angle and vector orientation to a 4x4 homogeneous matrix
%
%   T = angvec2tr(theta, v)
%
% Return a homogeneous transform matrix, T, equivalent to a rotation of theta
% about the vector v.
%
% See also: EUL2R, RPY2R, ANGVEC2R

% Copyright (C) 1993-2008, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for Matlab (RTB).
% 
% RTB is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% (at your option) any later version.
% 
% RTB is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
% GNU Lesser General Public License for more details.
% 
% You should have received a copy of the GNU Leser General Public License
% along with RTB.  If not, see <http://www.gnu.org/licenses/>.

function T = angvec2tr(theta, k)

    T = r2t( angvec2r(theta, k) );