Home > . > r2t.m

r2t

PURPOSE ^

R2T Return a homogeneous transformation from a rotation

SYNOPSIS ^

function T = r2t(R)

DESCRIPTION ^

R2T Return a homogeneous transformation from a rotation

    T = R2T(R)

 Return T the 4x4 the homogeneous transformation from the 3x3 rotation R

 SEE ALSO: T2R

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %R2T Return a homogeneous transformation from a rotation
0002 %
0003 %    T = R2T(R)
0004 %
0005 % Return T the 4x4 the homogeneous transformation from the 3x3 rotation R
0006 %
0007 % SEE ALSO: T2R
0008 
0009 % Copyright (C) 1999-2008, by Peter I. Corke
0010 %
0011 % This file is part of The Robotics Toolbox for Matlab (RTB).
0012 %
0013 % RTB is free software: you can redistribute it and/or modify
0014 % it under the terms of the GNU Lesser General Public License as published by
0015 % the Free Software Foundation, either version 3 of the License, or
0016 % (at your option) any later version.
0017 %
0018 % RTB is distributed in the hope that it will be useful,
0019 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0020 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0021 % GNU Lesser General Public License for more details.
0022 %
0023 % You should have received a copy of the GNU Leser General Public License
0024 % along with RTB.  If not, see <http://www.gnu.org/licenses/>.
0025 
0026 function T = r2t(R)
0027 
0028     T = [R(1:3,1:3) [0;0;0]; 0 0 0 1];

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