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rttrdemo

PURPOSE ^

RTTRDEMO Transforms and quaternion demo

SYNOPSIS ^

This is a script file.

DESCRIPTION ^

RTTRDEMO Transforms and quaternion demo

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %RTTRDEMO Transforms and quaternion demo
0002 
0003 % Copyright (C) 1993-2002, by Peter I. Corke
0004 % $Log: not supported by cvs2svn $
0005 % Revision 1.2  2002-04-01 11:47:18  pic
0006 % General cleanup of code: help comments, see also, copyright, remnant dh/dyn
0007 % references, clarification of functions.
0008 %
0009 % $Revision: 1.1 $
0010 echo on
0011 %
0012 % In the field of robotics there are many possible ways of representing
0013 % positions and orientations, but the homogeneous transformation is well
0014 % matched to MATLABs powerful tools for matrix manipulation.
0015 %
0016 % Homogeneous transformations describe the relationships between Cartesian
0017 % coordinate frames in terms of translation and orientation.
0018 
0019 %  A pure translation of 0.5m in the X direction is represented by
0020     transl(0.5, 0.0, 0.0)
0021 %
0022 % a rotation of 90degrees about the Y axis by
0023     troty(pi/2)
0024 %
0025 % and a rotation of -90degrees about the Z axis by
0026     trotz(-pi/2)
0027 %
0028 %  these may be concatenated by multiplication
0029     t = transl(0.5, 0.0, 0.0) * troty(pi/2) * trotz(-pi/2)
0030 
0031 %
0032 % If this transformation represented the origin of a new coordinate frame with respect
0033 % to the world frame origin (0, 0, 0), that new origin would be given by
0034 
0035         t * [0 0 0 1]'
0036 pause % any key to continue
0037 %
0038 % the orientation of the new coordinate frame may be expressed in terms of
0039 % Euler angles
0040     tr2eul(t)
0041 %
0042 % or roll/pitch/yaw angles
0043     tr2rpy(t)
0044 pause % any key to continue
0045 %
0046 % It is important to note that tranform multiplication is in general not
0047 % commutative as shown by the following example
0048     trotx(pi/2) * trotz(-pi/8)
0049     trotz(-pi/8) * trotx(pi/2)
0050 %
0051 %
0052 pause % any key to continue
0053 echo off

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