Combine functionality of rotMat3d.m and rotMat3dDeg.m to the former and remove the latter

Utilities/Generic/MATLAB/Functions/rotMat3d.m

@@ -3,7 +3,7 @@
 % Author: Achilles Kappis
 % e-mail: axilleaz@protonmail.com
 %
-% Date: 03/02/2024 (DD/MM/YYYY)
+% Date: 16/07/2024 (DD/MM/YYYY)
 %
 % Copyright: MIT
 % --------------------------------------------------
@@ -17,6 +17,12 @@
 % 
 % zAng [numeric] (Optional) : Rotation angle along the z-axis.
 %                             [Default: 0].
+% 
+% radDeg [chat/string] (Optional): This value declares if the provided
+%                                  angles are in radians or degrees. It can
+%                                  have one of the following values and is
+%                                  not case sensitive: "Degs", "Degrees",
+%                                  "Rads", "Radians". [Default: "Rads"].
 % --------------------------------------------------
 % Output
 % 
@@ -34,11 +40,11 @@
 % Notes
 % 
 % --------------------------------------------------
-function [rotMat, xRotMat, yRotMat, zRotMat] = rotMat3d(xAng, yAng, zAng)
+function [rotMat, xRotMat, yRotMat, zRotMat] = rotMat3d(xAng, yAng, zAng, radDeg)
     % ====================================================
     % Check for number of arguments
     % ====================================================
-    narginchk(1, 3);
+    narginchk(1, 4);
     nargoutchk(0, 4);
 
     % ====================================================
@@ -48,18 +54,35 @@ function [rotMat, xRotMat, yRotMat, zRotMat] = rotMat3d(xAng, yAng, zAng)
     validateattributes(xAng, "numeric", {'scalar', 'nonnan', 'finite', 'real'}, mfilename, 'Roll angle', 1);
 
     % Optional arguments
-    if nargin > 1
+    if nargin > 1 && ~isempty(yAng)
         validateattributes(yAng, "numeric", {'scalar', 'nonnan', 'finite', 'real'}, mfilename, 'Pitch angle', 2);
     else
         yAng = 0;
     end
 
-    if nargin > 2
+    if nargin > 2 && ~isempty(zAng)
         validateattributes(zAng, "numeric", {'scalar', 'nonnan', 'finite', 'real'}, mfilename, 'Yaw angle', 2);
     else
         zAng = 0;
     end
 
+    if nargin > 3 && ~isempty(radDeg)
+        validateattributes(radDeg, {'char', 'string'}, {'scalartext'}, mfilename, "The 'type' of the provided angle values (radians or degrees)", 4);
+        validatestring(radDeg, ["Rads", "Radians", "Degs", "Degrees"], mfilename, "The 'type' of the provided angle values (radians or degrees)", 4);
+    else
+        radDeg = "Rads";
+    end
+
+
+    % ====================================================
+    % Pre-process angle values
+    % ====================================================
+    if sum(strcmpi(radDeg, ["Degs", "Degrees"])) > 0
+        xAng = deg2rad(xAng);
+        yAng = deg2rad(yAng);
+        zAng = deg2rad(zAng);
+    end
+
 
     % ====================================================
     % Create respective matrices

Utilities/Generic/MATLAB/Functions/rotMat3dDeg.m

-%% Calculate a 3D rotation matrix
-% --------------------------------------------------
-% Author: Achilles Kappis
-% e-mail: axilleaz@protonmail.com
-%
-% Date: 03/02/2024 (DD/MM/YYYY)
-%
-% Copyright: MIT
-% --------------------------------------------------
-% Functionality: Calculate a 3D rotation matrix.
-% --------------------------------------------------
-% Input
-% 
-% xAng [numeric]: Rotation angle along the x-axis in degrees.
-% 
-% yAng [numeric] (Optional): Rotation angle along the y-axis in degrees.
-%                            [Default: 0].
-% 
-% zAng [numeric] (Optional) : Rotation angle along the z-axis in degrees.
-%                             [Default: 0].
-% --------------------------------------------------
-% Output
-% 
-% rotMat [numeric]: A 3x3 matrix which applies the rotation.
-% 
-% xRotMat[numeric]: A 3x3 matrix which applies the rotation along the
-%                   x-axis.
-% 
-% yRotMat[numeric]: A 3x3 matrix which applies the rotation along the
-%                   y-axis.
-% 
-% zRotMat[numeric]: A 3x3 matrix which applies the rotation along the
-%                   z-axis.
-% --------------------------------------------------
-% Notes
-% 
-% --------------------------------------------------
-function [rotMat, xRotMat, yRotMat, zRotMat] = rotMat3dDeg(xAng, yAng, zAng)
-    % ====================================================
-    % Check for number of arguments
-    % ====================================================
-    narginchk(1, 3);
-    nargoutchk(0, 4);
-
-    % ====================================================
-    % Validate input arguments
-    % ====================================================
-    % Mandatory arguments
-    validateattributes(xAng, "numeric", {'scalar', 'nonnan', 'finite', 'real'}, mfilename, 'Roll angle', 1);
-
-    % Optional arguments
-    if nargin > 1
-        validateattributes(yAng, "numeric", {'scalar', 'nonnan', 'finite', 'real'}, mfilename, 'Pitch angle', 2);
-    else
-        yAng = 0;
-    end
-
-    if nargin > 2
-        validateattributes(zAng, "numeric", {'scalar', 'nonnan', 'finite', 'real'}, mfilename, 'Yaw angle', 2);
-    else
-        zAng = 0;
-    end
-
-
-    % ====================================================
-    % Create respective matrices
-    % ====================================================
-    % Rolling rotation matrix
-    xRotMat = [1, 0, 0;...
-               0, cosd(xAng), -sind(xAng);...
-               0, sind(xAng), cosd(xAng)];
-
-    % Pitch rotation matrix
-    yRotMat = [cosd(yAng), 0, sind(yAng);...
-                0, 1, 0;...
-                -sind(yAng), 0, cosd(yAng)];
-
-    % Yaw rotation matrix
-    zRotMat = [cosd(zAng), -sind(zAng), 0;...
-              sind(zAng), cosd(zAng), 0;...
-              0, 0, 1];
-
-    % Complete rotation matrix
-    rotMat = zRotMat * yRotMat * xRotMat;
-end
\ No newline at end of file