Method: NMatrix.x_rotation

Defined in:

lib/nmatrix/homogeneous.rb

.x_rotation(angle_in_radians, opts = {}) ⇒ Object

call-seq:

x_rotation(angle_in_radians) -> NMatrix
x_rotation(angle_in_radians, dtype: dtype) -> NMatrix
y_rotation(angle_in_radians) -> NMatrix
y_rotation(angle_in_radians, dtype: dtype) -> NMatrix
z_rotation(angle_in_radians) -> NMatrix
z_rotation(angle_in_radians, dtype: dtype) -> NMatrix

Generate a 4x4 homogeneous transformation matrix representing a rotation about the x, y, or z axis respectively.

• Arguments :

  • angle_in_radians -> The angle of rotation in radians.

  • dtype -> (optional) Default is :float64

• Returns :

  • A homogeneous transformation matrix consisting of a single rotation.

Examples:

NMatrix.x_rotation(Math::PI.quo(6)) # =>
                                          1.0      0.0       0.0       0.0
                                          0.0      0.866025 -0.499999  0.0
                                          0.0      0.499999  0.866025  0.0
                                          0.0      0.0       0.0       1.0

NMatrix.x_rotation(Math::PI.quo(6), dtype: :float32) # =>
                                          1.0      0.0       0.0       0.0
                                          0.0      0.866025 -0.5       0.0
                                          0.0      0.5       0.866025  0.0
                                          0.0      0.0       0.0       1.0

# File 'lib/nmatrix/homogeneous.rb', line 66

def x_rotation angle_in_radians, opts={}
  c = Math.cos(angle_in_radians)
  s = Math.sin(angle_in_radians)
  NMatrix.new(4, [1.0, 0.0, 0.0, 0.0,
                  0.0, c,   -s,  0.0,
                  0.0, s,    c,  0.0,
                  0.0, 0.0, 0.0, 1.0], {dtype: :float64}.merge(opts))
end