Algorithm (Workflow)

This algorithm generates a random transformation matrix, often used in 3D graphics and robotics. The function is named randT and is part of the SolidGeometry library.

Input Parameters

• d: This parameter represents the distance from the origin. If not provided, it defaults to a range between 10 and 20.

Output

• T: The output is a homogeneous transformation (HT) matrix.

Algorithm Steps

1. The function getfuncparams is called to retrieve the parameter d from the input arguments. If not specified, it defaults to 20.
2. The function randminv is used to generate a random translation vector t with three components. Each component is a random value between d/2 and d.
3. Random rotation angles wx, wy, and wz are generated using randminv. These angles are within the range of [pi/10, 2*pi*0.9] - pi.
4. The function rot is called with the angles wx, wy, and wz to create a rotation matrix R.
5. The function TofR is used to combine the rotation matrix R and the translation vector t into a homogeneous transformation matrix T.
6. If no output is requested (i.e., nargout == 0), a figure is created using SGfigure. The maximum value of t is used to set the view, and the transformation is plotted with tplot. The origin is marked with pplot.