![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/290212/image.png)
trasformation of a unit vector quiver3
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Andrea Gusmara
le 4 Mai 2020
Commenté : Ameer Hamza
le 4 Mai 2020
Hi everyone , i would like to know if it is possibile to obtain a trasformation of quiver3 object . I have a normal quiver3 object and i want to trasform with my homogenous traformation matrix hM(4*4). i don't want modify my q_w but get another one. thank you very much.
q_w=quiver3(zeros(3,1),zeros(3,1),zeros(3,1),[1;0;0],[0;1;0],[0;0;1]);
q_w.LineWidth=3;
q_w.AutoScaleFactor=8;
rz=[ cos(psi) -sin(psi) 0 ;
sin(psi) cos(psi) 0 ;
0 0 1] ;
ry=[ cos(theta) 0 sin(theta) ;
0 1 0 ;
-sin(theta) 0 cos(theta)];
rx=[ 1 0 0 ;
0 cos(fi) -sin(fi);
0 sin(fi) cos(fi)];
rM=ry*rx*rz; % giusta
% rMf=matlabFunction(rM);
%creaiamo la nostra matrice omogenea
transition=[x y z]';
% transitionF=matlabFunction(transition);
one=ones(1);
hM= [ rM transition ;
zeros one ];
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Ameer Hamza
le 4 Mai 2020
Modifié(e) : Ameer Hamza
le 4 Mai 2020
Try this
vec1 = [1;0;0];
vec2 = [0;1;0];
vec3 = [0;0;1];
q_w=quiver3(zeros(3,1),zeros(3,1),zeros(3,1),vec1,vec2,vec3);
q_w.LineWidth=3;
q_w.AutoScaleFactor=8;
psi = pi/4;
theta = pi/3;
fi = pi/6;
rz=[ cos(psi) -sin(psi) 0 ;
sin(psi) cos(psi) 0 ;
0 0 1] ;
ry=[ cos(theta) 0 sin(theta) ;
0 1 0 ;
-sin(theta) 0 cos(theta)];
rx=[ 1 0 0 ;
0 cos(fi) -sin(fi);
0 sin(fi) cos(fi)];
rM=ry*rx*rz; % giusta
figure;
q_w=quiver3(zeros(3,1),zeros(3,1),zeros(3,1),rM*vec1,rM*vec2,rM*vec3);
q_w.LineWidth=3;
q_w.AutoScaleFactor=8;
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/290212/image.png)
Also see eul2rotm(): https://www.mathworks.com/help/releases/R2020a/robotics/ref/eul2rotm.html to generate the rotation matrix.
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