Rotate line about a point

How can i rotate a line about its end point? Also how can I keep the line sizes equal. I'm trying to represent the moving coordinate frame for the end effector of an robotic arm and I want to represent the change in x and y axis based on the rotation matrix.

Thank you

Answer 1

[Amrtanshu Raj]

Hi,

You can simply translate the vector to the origin Multiply the point by the rotation Matrix and then again translate the point back to the rotation point (end point). The following code may help.

Rotation_matrix =  eul2rotm([pi/2,0,0]) %rotation matrix 
point1 = [1,2,0]; %end point of line, we will rotate about this point 
point2 = [4,5,0]; %end point of line 
Point2new = point1 + [point2-point1]* Rotation_matrix