DIFF2TR Convert a differential to a homogeneous transform TR = DIFF2TR(D) Returns a homogeneous transform representing differential translation and rotation. The matrix contains a skew symmetric rotation submatrix. See also: TR2DIFF.
0001 %DIFF2TR Convert a differential to a homogeneous transform 0002 % 0003 % TR = DIFF2TR(D) 0004 % 0005 % Returns a homogeneous transform representing differential translation 0006 % and rotation. The matrix contains a skew symmetric rotation submatrix. 0007 % 0008 % See also: TR2DIFF. 0009 0010 % Copyright (C) 1993-2008, 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 delta = diff2tr(d) 0028 delta =[ 0 -d(6) d(5) d(1) 0029 d(6) 0 -d(4) d(2) 0030 -d(5) d(4) 0 d(3) 0031 0 0 0 0 ];