Algorithm (Workflow)

This function, SGTframerot, is designed to rotate a frame of a solid geometry object. It takes three input parameters and returns a modified solid geometry object.

Input Parameters

• B: The solid geometry object that will be modified.
• N: The name of the frame within the solid geometry object that will be rotated.
• R: The rotation matrix or angle. This can be provided in several formats:
  • A 3x3 rotation matrix.
  • A 1x3 vector representing rotation angles.
  • A 4x4 transformation matrix.
  • A single scalar representing a rotation angle around the z-axis.

Algorithm Steps

1. The function first checks the size of the input R to determine its format and converts it to a transformation matrix T using helper functions:
   • If R is a 3x3 matrix, it is directly converted to a transformation matrix using TofR(R).
   • If R is a 1x3 vector, it is first converted to a rotation matrix using rot(R), then to a transformation matrix using TofR.
   • If R is a 4x4 matrix, it is assumed to be a transformation matrix and used directly.
   • If R is a single scalar, it is treated as a rotation around the z-axis, converted to a rotation matrix using rot([0 0 R]), and then to a transformation matrix using TofR.
2. The function updates the frame N of the solid geometry B by multiplying the current transformation matrix of the frame with the new transformation matrix T. This is done using SGTset and SGTget functions.
3. If no output is requested (i.e., nargout==0), the function visualizes the result:
   • It sets up a figure with a specific view using SGfigure(-30,30).
   • It plots the solid geometry with transparency using SGplotalpha(B,'w',0.5).
   • It plots the frame using SGTframeplot(B,N).