screw2R
by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - Analytical Geometry
Introduced first in SolidGeometry 5.1, Creation date: 2021-10-12, Last change: 2025-09-15
definition of a screw coordinate system
Description
minimal number of values to describe a rotation
See Also: Rofxy
Example Illustration
Syntax
R=screw2R(scr)
Input Parameter
Output Parameter
Examples
screw2R ([0.707 0.707 0])
screw2R ([0.707 0.707 pi/10])
screw2R ([0.707 0.707 -pi/10])
Copyright 2021-2025 Tim C. Lueth. All rights reserved. The code is the property of Tim C. Lueth and may not be redistributed or modified without explicit written permission. This software may be used free of charge for academic research and teaching purposes only. Commercial use, redistribution, modification, or reverse engineering is strictly prohibited. Access to source code is restricted and granted only under specific agreements. For licensing inquiries or commercial use, please contact: Tim C. Lueth
Algorithm (Workflow)
The function screw2R is designed to compute a rotation matrix based on a screw coordinate system. It takes a single input parameter and produces a rotation matrix as output.
Input Parameters
- scr: A vector containing three elements [x, y, w].
- x: The x-coordinate, representing a component of the screw axis.
- y: The y-coordinate, representing another component of the screw axis.
- w: The rotation angle around the screw axis.
Output
- R: A rotation matrix that represents the rotation defined by the screw coordinates.
Algorithm Steps
- Extract the x, y, and w values from the input vector
scr.
- Call the function
Rofxy(x, y) to compute an initial rotation matrix based on the x and y coordinates. This function needs correction for angles greater than zero.
- Multiply the initial rotation matrix by another rotation matrix obtained from
rot(0, 0, w), which represents a rotation by angle w around the z-axis.
- If no output is requested (i.e.,
nargout == 0), visualize the result using SGfigure and tplot functions.
Algorithm explaination created using ChatGPT on 2025-08-18 23:00. (Please note: No guarantee for the correctness of this explanation)
Last html export of this page out of FM database by TL: 2025-09-21