homogeneous_rotation_x Function

public pure function homogeneous_rotation_x(angle) result(rst)

Constructs the 4-by-4 homogeneous transformation matrix describing a rotation about an x-axis.

$$\textbf{R}_x = \left[ \begin{matrix} 1 & 0 & 0 & 0 \\ 0 & \cos{\theta_x} & -\sin{\theta_x} & 0 \\ 0 & \sin{\theta_x} & \cos{\theta_x} & 0 \\ 0 & 0 & 0 & 1 \\ \right]$$

Arguments

Type	Intent	Optional	Attributes		Name
real(kind=real64),	intent(in)			::	angle	The rotation angle, in radians.

Return Value real(kind=real64), (4,4)

The resulting 4-by-4 transformation matrix.

Local Variables

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