>> RotEjeX(pi/4) >> RotTransX(1,2,3,pi)

ans = Rot_TransX =

1.0000 0 0 1.0000 0 0 1.0000

0 0.7071 -0.7071 0 -1.0000 -0.0000 2.0000

0 0.7071 0.7071 0 0.0000 -1.0000 3.0000

0 0 0 1.0000

>> RotEjeY(pi/8)

ans = >> RotTransY(3,2,1,pi/2)

0.9239 0 0.3827 Rot_TransY =

0 1.0000 0 0.0000 0 1.0000 3.0000

-0.3827 0 0.9239 0 1.0000 0 2.0000

-1.0000 0 0.0000 1.0000

>> RotejeZ(pi/3) 0 0 0 1.0000

ans =

0.5000 -0.8660 0 >> RotTransZ(8,2,5,pi)

0.8660 0.5000 0 Rot_TransZ =

0 0 1.0000 -1.0000 -0.0000 0 8.0000

0.0000 -1.0000 0 2.0000

0 0 1.0000 5.0000

0 0 0 1.0000
>> TransRotX(2,2,1,2*pi) >> Rotacion(2,3,1,pi/6)

Trans_RotX = Rotacion =

1.0000 0 0 2.0000 1.4019 0.338 1.7679 0

0 1.0000 0.0000 2.0000 1.3038 2.0718 -0.5981 0

0 -0.0000 1.0000 1.0000 -1.2321 1.019 1.0000 0

0 0 0 1.0000 0 0 0 1.0000

>> TransRotY(0,2,0,pi/6) >>

Trans_RotY =

0.8660 0 0.5000 0

0 1.0000 0 2.0000

-0.5000 0 0.8660 0

0 0 0 1.0000

>> TransRotZ(4,2,8,pi/4)

Trans_RotZ =

0.7071 -0.7071 0 1.4142

0.7071 0.7071 0 4.2426

0 0 1.0000 8.0000

0 0 0 1.0000