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작성자 cemtool 작성일14-06-11 12:01 조회6,329회 댓글10건

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(1) 3차원 벡터 xto_rot를 축을 중심으로 theta_rot만큼 회전이동시키는 함수 clxrotzf.cem을 작성 하여라. 실제로 함수 clxrotzf는 동차변형(homogeneous transformation)을 사용하므로 출력 결 과는 4차원 벡터이지만, 원하는 최종 결과는 4차원 벡터의 처음 세 개의 성분임에 주목하여라.
ex3_19.cem
function;
yh3rotz<>xto_rot,theta_rot
 
/*
 ndec=clbindec(xbin) Rotate the vector xto_rot by the angle theta_rot around the z axis xto_rot must be a 4 x 1 column vector, theta_rot in degrees.
*/
 
theta_rot=theta_rot*pi/180;    // Convert to radians
Arotz=[cos(theta_rot) -sin(theta_rot) 0 0;
    sin(theta_rot) cos(theta_rot) 0 0;
    0 0 1 0;0 0 0 1];
yh3rotz=Arotz*xto_rot;
yh3rotz=yh3rotz(1:3);
(2) 함수 clxrotzf 를 사용하여 벡터 [1 2 3]을 z 축을 중심으로 60°도만큼 회전이동시킨 벡터를 구하여라.
ex3_19.cem
/*
 Example 3.19 Linear transformation
*/
 
//  Input the vector [x y z] and the angle in degrees.
//  Function clxrotzf is called to perform rotation
 
v1=input(" Vector [x y z]= ")theta=input(" Input rotation angle (degrees)= ")v11=[v1 1]';                // Form homogeneous vector
vrotz=clxrotzf(v11,theta);  // Rotatemsgprint("Rotated vector")msgprint(" ")vrotz                       // Display result
v1 = 
         1	         2	         3	
theta = 
        60	
Rotated vector
 
vrotz = 
   -1.23205080756888
    1.86602540378444
    3.00000000000000
실행 결과는 위와 같다.
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