Creates a transformation matrix for rotation and translation

Creates a transformation matrix for clockwise rotation by 'alpha' degrees followed by a translation with an offset of (h, k). Points are assumed to be centered at (0, 0).

Usage

rigid.transf(h = 0, k = 0, alpha = 0)

Arguments

h

Numeric: offset along x axis

k

Numeric: offset along y axis

alpha

rotation angle