|Code Listing by James West|
This function will take a [1xn] or [mx1] vector and normalize it to a unit vector length.
To use this function [vectorOut] = fcn_createUnitVector(vectorIn)
Error checking is performed to test for NaN values in the output, and a square root of the sum of the squares == 1
This function will take column or row vectors and output in said format
This function plots unitvectors X Y and Z or (e1, e2, e3) from an origin.
This function is fairly robust in that it can take 2 types of input. It can take a transformation matrix of the form
trMatrix = [1 0 0 0; pos' unitx' unity'...
This function will take two transformation matrices and transform from tr1 to tr2 converting all the points from frame 1-->2
Use: pointsOut = fcn_transformPoints(trOrigin[4x4],trDestination[4x4], pointsToBeMoved[mx3])