/usr/share/octave/packages/geometry-1.7.0/geom3d/createRotationOz.m is in octave-geometry 1.7.0-1build1.
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## Copyright (C) 2004-2011 INRA - CEPIA Nantes - MIAJ (Jouy-en-Josas)
## Copyright (C) 2012 Adapted to Octave by Juan Pablo Carbajal <carbajal@ifi.uzh.ch>
## All rights reserved.
##
## Redistribution and use in source and binary forms, with or without
## modification, are permitted provided that the following conditions are met:
##
## 1 Redistributions of source code must retain the above copyright notice,
## this list of conditions and the following disclaimer.
## 2 Redistributions in binary form must reproduce the above copyright
## notice, this list of conditions and the following disclaimer in the
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##
## THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ''AS IS''
## AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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## ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR
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## DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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## CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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## -*- texinfo -*-
## @deftypefn {Function File} {@var{trans} =} createRotationOz (@var{theta})
## @deftypefnx {Function File} {@var{trans} =} createRotationOz (@var{origin},@var{theta})
## @deftypefnx {Function File} {@var{trans} =} createRotationOz (@var{x0},@var{y0},@var{z0},@var{theta})
## Create the 4x4 matrix of a 3D rotation around x-axis
##
## TRANS = createRotationOz(THETA);
## Returns the transform matrix corresponding to a rotation by the angle
## THETA (in radians) around the Oz axis. A rotation by an angle of PI/2
## would transform the vector [0 1 0] into the vector [0 0 1].
##
## The returned matrix has the form:
## [1 0 0 0]
## [0 cos(THETA) -sin(THETA) 0]
## [0 sin(THETA) cos(THETA) 0]
## [0 0 0 1]
##
## TRANS = createRotationOz(ORIGIN, THETA);
## TRANS = createRotationOz(X0, Y0, Z0, THETA);
## Also specifies origin of rotation. The result is similar as performing
## translation(-X0, -Y0, -Z0), rotation, and translation(X0, Y0, Z0).
##
## @seealso{transforms3d, transformPoint3d, createRotationOx, createRotationOy}
## @end deftypefn
function trans = createRotationOz(varargin)
# default values
dx = 0;
dy = 0;
dz = 0;
theta = 0;
# get input values
if length(varargin)==1
# only angle
theta = varargin{1};
elseif length(varargin)==2
# origin point (as array) and angle
var = varargin{1};
dx = var(1);
dy = var(2);
dz = var(3);
theta = varargin{2};
elseif length(varargin)==3
# origin (x and y) and angle
dx = varargin{1};
dy = varargin{2};
dz = varargin{3};
theta = varargin{3};
end
# compute coefs
cot = cos(theta);
sit = sin(theta);
# create transformation
trans = [...
cot -sit 0 0;...
sit cot 0 0;...
0 0 1 0;...
0 0 0 1];
# add the translation part
t = [1 0 0 dx;0 1 0 dy;0 0 1 dz;0 0 0 1];
trans = t*trans/t;
endfunction
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