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1 | %calculate the components of the unit vector norm_plane normal to the plane |
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2 | %defined by the rotation vector PlaneAngle (in degree) |
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3 | % this gives the equation of the plane as norm_plane(1)x + norm_plane(2)y +norm_plane(3)z = cte |
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4 | |
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5 | function norm_plane=rotate(PlaneAngle) |
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6 | |
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7 | om=norm(PlaneAngle);%norm of rotation angle in degrees |
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8 | OmAxis=PlaneAngle/om; %unit vector marking the rotation axis |
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9 | cos_om=cos(pi*om/180); |
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10 | sin_om=sin(pi*om/180); |
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11 | coeff=OmAxis(3)*(1-cos_om); |
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12 | norm_plane(1)=OmAxis(1)*coeff+OmAxis(2)*sin_om; |
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13 | norm_plane(2)=OmAxis(2)*coeff-OmAxis(1)*sin_om; |
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14 | norm_plane(3)=OmAxis(3)*coeff+cos_om; |
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