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- % RotatePoint.m
- %
- % Rotates a point by multiplying from the left with the provided rotation matrix.
- function rotVec = RotatePoint(rot, vec)
- if (size(vec,2) > size(vec,1))
- vec = vec';
- end
- assert(size(vec,1) == 3 && size(vec,2) == 1, 'Vector should have exactly 3 elements');
- assert(size(rot,1) == 3 && size(rot,2) == 3, 'Rotation matrix has incorrect dimensions');
- rotVec = rot * vec;
- end
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