syms rp alpha beta theta psi zA=cos(alpha)-cos(beta);B=sin(alpha)-sin(beta);C=(cos(beta)-1)/tan(beta)-(cos(alpha)-1)/tan(alpha);R=A*(cos(theta)-cos(psi))+B*cos(theta)*sin(psi);S=A*sin(theta)*sin(psi)-B*cos(theta)+C*cos(psi);phi=atan(-R/S)x=-rp*(cos(theta)*cos(phi)+sin(psi)*sin(theta)*sin(phi))*cos(alpha)-rp*(-cos(theta)*sin(phi)+sin(psi)*sin(theta)*cos(phi))*sin(alpha)+(rp/tan(alpha))*(cos(psi)*sin(phi)*(cos(alpha)-1)+cos(psi)*cos(phi)*sin(alpha));y=-cos(psi)*sin(phi)*rp;p=[x;y;z]T=Rot('y',theta)*Rot('x',psi)*Rot('z',phi);a1=T*[rp;0;0];a2=T*[rp*cos(alpha);rp*sin(alpha);0];a3=T*[rp*cos(beta);rp*sin(beta);0]; Con1=(p+a1)'*[0;1;0]Con2=(p+a2)'*[-sin(alpha);cos(alpha);0]Con3=(p+a3)'*[-sin(beta);cos(beta);0]
Any help is apperciated ! Thanks
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