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- u1 = [0 0 0]';
- p10 = [0 1 0 1]';
- w1 = [0 0 1]';
- v1 = -cross(w1,u1)
- w1daszek = [0, -1, 0, v1(1); ...
- 1, 0, 0, v1(2); ...
- 0, 0, 0, v1(3);
- 0, 0, 0, 0];
- u2 = [0 0 0]';
- p20 = [0 1 0 1]';
- w2 = [0 0 1]';
- v2 = -cross(w2,u2)
- w2daszek = [0, -1, 0, v2(1); ...
- 1, 0, 0, v2(2); ...
- 0, 0, 0, v2(3);
- 0, 0, 0, 0];
- okno = figure(2)
- wykres = plot(0,0,'-o')
- axis([-4 4 -4 4])
- for theta1 = 0:pi/20:2*pi
- theta2 = pi/4;
- A1 = expm(w1daszek*theta1);
- A2 = expm(w2daszek*theta2);
- p1 = A1 * p10;
- p2 = A1 * A2 * p20;
- grid on
- wykres.XData = [0 p1(1) p2(1)];
- wykres.YData = [0 p1(2) p2(2)];
- pause(0.1)
- end
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