dh_rotate_z Function

public pure function dh_rotate_z(theta) result(rst)

Computes the Denavit-Hartenberg matrix for a local z-axis rotation.

Arguments

Type IntentOptional Attributes Name
real(kind=real64), intent(in) :: theta

The rotation angle, in radians.

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

The matrix.


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