Path: AerospaceUtils/CAD
% Compute a transformation matrix from a bHinge data structure.
There are four possiblities:
1) You can just input a transformation matrix by entering only the b field.
2) You can input a quaternion by just entering the q field. This supercedes
a b field.
3) You can input an angle and axis of rotation (1=x,2=y,3=z).
If no axis is specified, the rotation will be about the positive z-axis.
This supercedes a quaternion.
4) If you enter the angle field and the b field, the output transformation
matrix will be the total rotation first through the angle about
the specified axis followed by rotation through the initial b matrix.
If no axis is specified, the rotation will be about the positive z-axis.
They are executed in
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Form:
b = BHinge( bHinge )
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Inputs
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bHinge (.)
.b (3,3) Transformation matrix
.q (4,1) Quaternion
.angle (1,1) Angle of rotation (radians)
.axis (1,1) Axis of rotation 1=x, 2=y, 3=z (default)
Positive integer means transform from
unrotated to rotated, negative means reverse
or
(3,1) Axis of rotation - see AUToQ
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Outputs
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b (3,3) Rotation matrix
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Common: General/IsValidField Common: Quaternion/AU2Q Common: Quaternion/Q2Mat
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