%TROTX SE(3) rotation about X axis
%
% T = TROTX(THETA) is a homogeneous transformation (4x4) representing a rotation 
% of THETA radians about the x-axis.
%
% T = TROTX(THETA, 'deg') as above but THETA is in degrees.
%
% Notes::
% - Translational component is zero.
%
% See also rotx, troty, trotz, trot2, SE3.Rx.

%## 3d rotation

% Copyright (C) 1993-2019 Peter I. Corke
%
% This file is part of The Spatial Math Toolbox for MATLAB (SMTB).
% 
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% in the Software without restriction, including without limitation the rights
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% https://github.com/petercorke/spatial-math

function T = trotx(t, varargin)
	T = [rotx(t, varargin{:}) [0 0 0]'; 0 0 0 1];
