3d Helix trajectory generation in robotics toolbox

I would like to modify the following proram from here to generate a helix trajectory instead of a circular one. Here is the part that should be modified:

t = (0:0.2:10)'; % Time
count = length(t);
center = [0.3 0.1 0];
radius = 0.15;
theta = t*(2*pi/t(end));
points =center + radius*[cos(theta) sin(theta) zeros(size(theta))];

It's supposed to be like that.

I tried substituting zeros(size(theta)) by a vector of the same size using linspace but it still gives me a circle.

Thanks in advance.

Answer 1

[Shadaab Siddiqie]

From my understanding you want to create a 3d helix path. Here is the code which might help you.

r=100;
theta=0:pi/50:10*pi;
%Trajectory in x-direction
x=-r.*cos(theta);
%Trajectory in y-direction
y=r.*sin(theta);
%Trajectory in z-direction
z=theta;
plot3(x,y,z);

For more advanced 3d shapes refer 3d-curves.