Home > . > t2r.m

t2r

PURPOSE ^

TR2ROT Return rotational submatrix of a homogeneous transformation

SYNOPSIS ^

function R = tr2rot(T)

DESCRIPTION ^

TR2ROT Return rotational submatrix of a homogeneous transformation

    R = TR2ROT(T)

 Return R the 3x3 orthonormal rotation matrix from the homogeneous 
 transformation T.

 SEE ALSO: ROT2TR

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %TR2ROT Return rotational submatrix of a homogeneous transformation
0002 %
0003 %    R = TR2ROT(T)
0004 %
0005 % Return R the 3x3 orthonormal rotation matrix from the homogeneous
0006 % transformation T.
0007 %
0008 % SEE ALSO: ROT2TR
0009 
0010 % Copyright (C) 1999-2008, by Peter I. Corke
0011 %
0012 % This file is part of The Robotics Toolbox for Matlab (RTB).
0013 %
0014 % RTB is free software: you can redistribute it and/or modify
0015 % it under the terms of the GNU Lesser General Public License as published by
0016 % the Free Software Foundation, either version 3 of the License, or
0017 % (at your option) any later version.
0018 %
0019 % RTB is distributed in the hope that it will be useful,
0020 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0021 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0022 % GNU Lesser General Public License for more details.
0023 %
0024 % You should have received a copy of the GNU Leser General Public License
0025 % along with RTB.  If not, see <http://www.gnu.org/licenses/>.
0026 
0027 function R = tr2rot(T)
0028 
0029     if ~ishomog(T)
0030         error('input must be a homogeneous transform');
0031     end
0032 
0033     R = T(1:3,1:3);

Generated on Sun 15-Feb-2009 18:09:29 by m2html © 2003