A = [3 0 3]'; B=[0 3 3]'; C=[0 0 7]' n = cross(B-A,C-A), ne = n/norm(n), d = ne'*A %n =[12 12 9]; ne = [0.6247 0.6247 0.4685]'; d= 3.2796 xs = d/ne(1) ; Sx = [ xs 0 0]', ne'*Sx-d % xs = 5.25 ys = d/ne(2) ; Sy = [ 0 ys 0]', ne'*Sy-d % ys = 5.25
Rur = [0 4 4 0 0; 0 0 2 2 0; 1 1 1 1 1]; T1 = [1 0 -3; 0 1 -3; 0 0 1]; RTb = [0 1 3; -1 0 3; 0 0 1]; TT = RTb*T1 % TT= [0 1 0; -1 0 12; 0 0 1] R1 = TT*Rur, R2 = TT^2*Rur, R3=TT^3*Rur, hold on plot(Rur(1,:),Rur(2,:),'k'); plot(R1(1,:),R1(2,:),'r'); plot(R2(1,:),R2(2,:),'g'); plot(R3(1,:),R3(2,:),'b'); axis([-1 8 -1 8]); axis square; hold off