03)

%Assignment 1
>> %168458E
>> AB_R_z=rotz(30);
>> AB_R_x=rotx(45);
>> display AB_R_z;
AB_R_z
> AB_R=AB_R_x*AB_R_z

AB_R =

0.8660 -0.5000 0
0.3536 0.6124 -0.7071
0.3536 0.6124 0.7071

>> A_P_Borg=[3;2;1]
A_P_Borg =

3
2
1

>> AB_T=[AB_R,A_P_Borg;0,0,0,1]

AB_T =

0.8660 -0.5000 0 3.0000

0.3536 0.6124 -0.7071 2.0000
0.3536 0.6124 0.7071 1.0000
0 0 0 1.0000

>> B_p=[1;1.5;-3];
>> A_p=[AB_T*[B_p;1]
>> BA_T=[inv(AB_R),-inv(AB_R)*A_P_Borg;0,0,0,1]
BA_T =

0.8660 0.3536 0.3536 -3.6587

-0.5000 0.6124 0.6124 -0.3371
0 -0.7071 0.7071 0.7071
0 0 0 1.0000

>> A_Q=[1.5;0;-2]
A_Q =

1.5000
0
-2.0000

>> B_Q=BA_T*[B_p;1]
B_Q =

-3.3230
-1.7557
-2.4749
1.0000

>> B_Q=BA_T*[A_Q;1]
B_Q =

-3.0668
-2.3119
-0.7071
1.0000