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diff2tr

PURPOSE ^

DIFF2TR Convert a differential to a homogeneous transform

SYNOPSIS ^

function delta = diff2tr(d)

DESCRIPTION ^

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.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

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    ];

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