From 2238e00981e1466033ce4a565420cd1e1500502e Mon Sep 17 00:00:00 2001
From: Thomas Lambert <t.lambert@uliege.be>
Date: Thu, 14 Dec 2023 10:57:04 +0100
Subject: [PATCH] refact: implement rotation matrices
The functions rotx, roty, rotz are not built-in of MATLAB (wtf). Instead
they come from a very expensive toolbox. As none other function of this
toolbox are needed, the functions are reimplemented manually for Rotare
to remove that useless dependency.
---
src/utils/rotx.m | 35 +++++++++++++++++++++++++++++++++++
src/utils/roty.m | 35 +++++++++++++++++++++++++++++++++++
src/utils/rotz.m | 35 +++++++++++++++++++++++++++++++++++
3 files changed, 105 insertions(+)
create mode 100644 src/utils/rotx.m
create mode 100644 src/utils/roty.m
create mode 100644 src/utils/rotz.m
diff --git a/src/utils/rotx.m b/src/utils/rotx.m
new file mode 100644
index 0000000..e1d2216
--- /dev/null
+++ b/src/utils/rotx.m
@@ -0,0 +1,35 @@
+function rotMat = rotx(angleDeg)
+ % ROTX Rotation matrix about X-axis
+ % -----
+ %
+ % Syntax:
+ % rotMat = rotx(angleDeg) returns the rotation matrix that rotates
+ % a point of an angle `angleDeg` (in degrees) around the X-axis.
+ %
+ % Inputs:
+ % angleDeg: Angle of rotation, [deg]
+ %
+ % Outputs:
+ % rotMat : 3x3 matrix for the rotation around X-axis
+ %
+ % See also: roty, rotz.
+ %
+ % <a href="https://gitlab.uliege.be/rotare/documentation">Complete documentation (online)</a>
+
+ % ----------------------------------------------------------------------------------------------
+ % (c) Copyright 2022-2023 University of Liege
+ % Author: Thomas Lambert <t.lambert@uliege.be>
+ % ULiege - Aeroelasticity and Experimental Aerodynamics
+ % MIT License
+ % Repo: https://gitlab.uliege.be/rotare/rotare
+ % Docs: https://gitlab.uliege.be/rotare/documentation
+ % Issues: https://gitlab.uliege.be/rotare/rotare/-/issues
+ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+ validateattributes(angleDeg, {'numeric'}, {'scalar'}, mfilename(), 'angleDeg', 1);
+
+ rotMat = [1, 0, 0
+ 0, cosd(angleDeg), -sind(angleDeg)
+ 0, sind(angleDeg), cosd(angleDeg)];
+
+end
diff --git a/src/utils/roty.m b/src/utils/roty.m
new file mode 100644
index 0000000..a33e77d
--- /dev/null
+++ b/src/utils/roty.m
@@ -0,0 +1,35 @@
+function rotMat = roty(angleDeg)
+ % ROTY Rotation matrix about Y-axis
+ % -----
+ %
+ % Syntax:
+ % rotMat = roty(angleDeg) returns the rotation matrix that rotates
+ % a point of an angle `angleDeg` (in degrees) around the Y-axis.
+ %
+ % Inputs:
+ % angleDeg: Angle of rotation, [deg]
+ %
+ % Outputs:
+ % rotMat : 3x3 matrix for the rotation around Y-axis
+ %
+ % See also: rotx, rotz.
+ %
+ % <a href="https://gitlab.uliege.be/rotare/documentation">Complete documentation (online)</a>
+
+ % ----------------------------------------------------------------------------------------------
+ % (c) Copyright 2022-2023 University of Liege
+ % Author: Thomas Lambert <t.lambert@uliege.be>
+ % ULiege - Aeroelasticity and Experimental Aerodynamics
+ % MIT License
+ % Repo: https://gitlab.uliege.be/rotare/rotare
+ % Docs: https://gitlab.uliege.be/rotare/documentation
+ % Issues: https://gitlab.uliege.be/rotare/rotare/-/issues
+ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+ validateattributes(angleDeg, {'numeric'}, {'scalar'}, mfilename(), 'angleDeg', 1);
+
+ rotMat = [cosd(angleDeg), 0, sind(angleDeg)
+ 0, 1, 0
+ -sind(angleDeg), 0, cosd(angleDeg)];
+
+end
diff --git a/src/utils/rotz.m b/src/utils/rotz.m
new file mode 100644
index 0000000..11b19be
--- /dev/null
+++ b/src/utils/rotz.m
@@ -0,0 +1,35 @@
+function rotMat = rotz(angleDeg)
+ % ROTZ Rotation matrix about Z-axis
+ % -----
+ %
+ % Syntax:
+ % rotMat = rotz(angleDeg) returns the rotation matrix that rotates
+ % a point of an angle `angleDeg` (in degrees) around the Z-axis.
+ %
+ % Inputs:
+ % angleDeg: Angle of rotation, [deg]
+ %
+ % Outputs:
+ % rotMat : 3x3 matrix for the rotation around Z-axis
+ %
+ % See also: rotx, roty.
+ %
+ % <a href="https://gitlab.uliege.be/rotare/documentation">Complete documentation (online)</a>
+
+ % ----------------------------------------------------------------------------------------------
+ % (c) Copyright 2022-2023 University of Liege
+ % Author: Thomas Lambert <t.lambert@uliege.be>
+ % ULiege - Aeroelasticity and Experimental Aerodynamics
+ % MIT License
+ % Repo: https://gitlab.uliege.be/rotare/rotare
+ % Docs: https://gitlab.uliege.be/rotare/documentation
+ % Issues: https://gitlab.uliege.be/rotare/rotare/-/issues
+ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+ validateattributes(angleDeg, {'numeric'}, {'scalar'}, mfilename(), 'angleDeg', 1);
+
+ rotMat = [cosd(angleDeg), -sind(angleDeg), 0
+ sind(angleDeg), cosd(angleDeg), 0
+ 0, 0, 1];
+
+end
--
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