TRANSFORMACIONES HOMOGENEAS

pzo=[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
,0,0,0,0,0,0];

pyo=[0,0,0,0,0,9,9,10,9,11,9,12,1,2,3,4,5,6,7,8,9,12,12,12,12,1,2,3,4,5,6,7,8,9,
12,9,12,9,11,9,10,9,0,0,0];

pxo=[0,0,0,0,0,6,7,7,8,8,9,9,10,10,10,10,10,10,10,10,10,10,11,12,13,14,14,14,
14,14,14,14,14,14,14,15,15,16,16,17,17,18,19,20,21];

plot(pxo,poy, 'x')

theta=90*3.1416/180.0;

Rztheta= [ cos(theta), -sin(theta), 0; sin(theta), cos(theta), 0; 0, 0, 1];

Rxtheta= [ 1, 0, 0; 0, cos(theta), -sin (theta); 0, sin(theta), cos(theta)];

Rytheta= [ cos(theta), 0, sin(theta); 0, 1, 0; -sin(theta), 0, cos(theta)];

%plot(pxo, pyo, 'x')

%plot3(pxo, pyo, pzo, 'x')

Az=Rztheta*[pxo,pyo,pzo];

Px1=Az(1,:);

Py1=Az(2,:);

Pz1=Az(3,:);

plot3(pxo,pyo,pzo,'.'px1,py1,pz1, 'x')

Ax=Rxtheta*[pxo,pyo,pzo];

Px1=Ax(1,:);

Py1=Ax(2,:);

Pz1=Ax(3,:);

plot3(pxo,pyo,pzo,'.'px1,py1,pz1, 'x')

%plot(pxo,pzo, '.',px1,py1, 'x')

Ay=Rytheta*[pxo,pyo,pzo];
Px1=Ay(1,:);

Py1=Ay(2,:);

Pz1=Ay(3,:);

plot3(pxo,pyo,pzo,'.'px1,py1,pz1, 'x')

%plot(pxo,pzo, '.',px1,py1, 'x')