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52 lines
1.7 KiB
52 lines
1.7 KiB
%TR2RT Convert homogeneous transform to rotation and translation
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%
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% [R,t] = TR2RT(TR) split a homogeneous transformation matrix (NxN) into an
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% orthonormal rotation matrix R (MxM) and a translation vector t (Mx1), where
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% N=M+1.
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%
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% A homogeneous transform sequence TR (NxNxK) is split into rotation matrix
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% sequence R (MxMxK) and a translation sequence t (KxM).
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%
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% Notes::
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% - Works for TR in SE(2) or SE(3)
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% - If TR is 4x4, then R is 3x3 and T is 3x1.
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% - If TR is 3x3, then R is 2x2 and T is 2x1.
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% - The validity of R is not checked.
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%
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% See also RT2TR, R2T, T2R.
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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 [R,t] = tr2rt(T)
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if numcols(T) ~= numrows(T)
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error('T must be square');
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end
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n = numcols(T);
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if size(T,3) > 1
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R = zeros(3,3,size(T,3));
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t = zeros(size(T,3), 3);
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for i=1:size(T,3)
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R(:,:,i) = T(1:n-1,1:n-1,i);
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t(i,:) = T(1:n-1,n,i)';
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end
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else
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R = T(1:n-1,1:n-1);
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t = T(1:n-1,n);
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end
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