%tabdile motavasset be lahzei(A.T to I.T)%
clc
clear all
format long g
AT=input('AT ra vared konid [x;y;z]=');
xp=input('xp ra vared konid=');
yp=input('yp ra vared konid=');
R1=[1 0 0;0 cos(yp) sin(yp);0 -sin(yp) cos(yp)];
R2=[cos(xp) 0 -sin(xp);0 1 0;sin(xp) 0 cos(xp)];
IT=R1*R2*AT