QI) Write a MATLAB Code to rotate the coordinate frame with required translation if applicable from Figurel to be appeared exactly as in Fig.2 by using rvctool functions by adjusting the three angles ( (a) for x-axis, B for y-axis and y for z-axis). Using "tranimate function to show each step of transformation Print the transformation matrix (4X4) for the frame resulting in Fig 2a 1 Z 1 05 0.5 1 I N 0 0 N Y Xinside -0.5 -0.5 -1 - 1,5 1 0 0 -1.5 -1 -1 Y 1.5 1 1 0.5 0 -0.5 -1.5 X Y Fig 1.a: Frame when all angles at zero position Fig 1.b: Left Side View (x-axis into the page) 3,5 4.5 3 4 25 3.5 N 3 > 2 Z Yde 2 25 15 2 1.5 1 05 05 0 05 1 1,5 2 25 Fig 2.a: resulting Frame after transformation (Isometric view) Fig 2.b: Top View of Resulting Frame after transformation 4 3.5 z X-Inside 25- 2 1.5 -0.5 D 1.5 2 2. 0.5 Fig 2.e: resulting Frame after transformation QI) Write a MATLAB Code to rotate the coordinate frame with required translation if applicable from Figurel to be appeared exactly as in Fig.2 by using rvctool functions by adjusting the three angles ( (a) for x-axis, B for y-axis and y for z-axis). Using "tranimate function to show each step of transformation Print the transformation matrix (4X4) for the frame resulting in Fig 2a 1 Z 1 05 0.5 1 I N 0 0 N Y Xinside -0.5 -0.5 -1 - 1,5 1 0 0 -1.5 -1 -1 Y 1.5 1 1 0.5 0 -0.5 -1.5 X Y Fig 1.a: Frame when all angles at zero position Fig 1.b: Left Side View (x-axis into the page) 3,5 4.5 3 4 25 3.5 N 3 > 2 Z Yde 2 25 15 2 1.5 1 05 05 0 05 1 1,5 2 25 Fig 2.a: resulting Frame after transformation (Isometric view) Fig 2.b: Top View of Resulting Frame after transformation 4 3.5 z X-Inside 25- 2 1.5 -0.5 D 1.5 2 2. 0.5 Fig 2.e: resulting Frame after transformation