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56 lines
1.8 KiB
56 lines
1.8 KiB
%RT2TR Convert rotation and translation to homogeneous transform
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%
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% TR = RT2TR(R, t) is a homogeneous transformation matrix (MxM) formed from an
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% orthonormal rotation matrix R (NxN) and a translation vector t (Nx1) where
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% M=N+1.
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%
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% For a sequence R (NxNxK) and t (kxN) results in a transform sequence (NxNxk).
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%
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% Notes::
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% - Works for R in SO(2) or SO(3)
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% - If R is 2x2 and t is 2x1, then TR is 3x3
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% - If R is 3x3 and t is 3x1, then TR is 4x4
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% - The validity of R is not checked
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%
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% See also T2R, R2T, TR2RT.
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for Matlab (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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function T = rt2tr(R, t)
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if numcols(R) ~= numrows(R)
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error('R must be square');
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end
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if numrows(R) ~= numrows(t)
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error('R and t must have the same number of rows');
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end
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if size(R,3) ~= numcols(t)
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error('For sequence size(R,3) must equal size(t,2)');
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end
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if size(R,3) > 1
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Z = zeros(numcols(R),1);
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B = [Z' 1];
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T = zeros(4,4,size(R,3));
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for i=1:size(R,3)
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T(:,:,i) = [R(:,:,i) t(:,i); B];
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end
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else
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T = [R t; zeros(1,numcols(R)) 1];
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end
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