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oa2tr

PURPOSE ^

OA2TR Convert O/A vectors to homogeneous transformation

SYNOPSIS ^

function r = oa2tr(o, a)

DESCRIPTION ^

OA2TR Convert O/A vectors to homogeneous transformation

     TR = OA2TR(O, A)

 Returns a homogeneous tranformation for the specified orientation and 
 approach vectors.  The rotation submatrix is formed from 3 vectors such that
 R = [N O A] and N = O x A.  
 The submatrix is guaranteed to be orthonormal so long as O and A are 
 not parallel.

 See also: RPY2TR, EUL2TR, OA2R

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %OA2TR Convert O/A vectors to homogeneous transformation
0002 %
0003 %     TR = OA2TR(O, A)
0004 %
0005 % Returns a homogeneous tranformation for the specified orientation and
0006 % approach vectors.  The rotation submatrix is formed from 3 vectors such that
0007 % R = [N O A] and N = O x A.
0008 % The submatrix is guaranteed to be orthonormal so long as O and A are
0009 % not parallel.
0010 %
0011 % See also: RPY2TR, EUL2TR, OA2R
0012 
0013 % Copyright (C) 1993-2008, by Peter I. Corke
0014 %
0015 % This file is part of The Robotics Toolbox for Matlab (RTB).
0016 %
0017 % RTB is free software: you can redistribute it and/or modify
0018 % it under the terms of the GNU Lesser General Public License as published by
0019 % the Free Software Foundation, either version 3 of the License, or
0020 % (at your option) any later version.
0021 %
0022 % RTB is distributed in the hope that it will be useful,
0023 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0024 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0025 % GNU Lesser General Public License for more details.
0026 %
0027 % You should have received a copy of the GNU Leser General Public License
0028 % along with RTB.  If not, see <http://www.gnu.org/licenses/>.
0029 
0030 function r = oa2tr(o, a)
0031     n = cross(o, a);
0032     o = cross(a, n);
0033     r = [unit(n(:)) unit(o(:)) unit(a(:)) zeros(3,1); 0 0 0 1];

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