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76 lines
2.5 KiB
76 lines
2.5 KiB
%TRANSL Create translational transform
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%
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% T = TRANSL(X, Y, Z) is a homogeneous transform representing a
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% pure translation.
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%
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% T = TRANSL(P) is a homogeneous transform representing a translation or
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% point P=[X,Y,Z]. If P (Mx3) it represents a sequence and T (4x4xM)
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% is a sequence of homogenous transforms such that T(:,:,i) corresponds to
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% the i'th row of P.
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%
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% P = TRANSL(T) is the translational part of a homogenous transform as a
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% 3-element column vector. If T (4x4xM) is a homgoeneous transform sequence
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% the rows of P (Mx3) are the translational component of the corresponding
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% transform in the sequence.
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%
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% Notes::
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% - Somewhat unusually this function performs a function and its inverse. An
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% historical anomaly.
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%
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% See also CTRAJ.
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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 = transl(x, y, z)
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if nargin == 1
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if ishomog(x)
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if ndims(x) == 3
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% transl(T) -> P, trajectory case
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T = squeeze(x(1:3,4,:))';
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else
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% transl(T) -> P
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T = x(1:3,4);
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end
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elseif all(size(x) == [3 3])
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T = x(1:2,3);
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elseif length(x) == 2
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% transl(P) -> T
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t = x(:);
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T = [eye(2) t(:);
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0 0 1];
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elseif length(x) == 3
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% transl(P) -> T
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t = x(:);
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T = [eye(3) t(:);
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0 0 0 1];
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else
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% transl(P) -> T, trajectory case
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n = numrows(x);
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T = repmat(eye(4,4), [1 1 n]);
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T(1:3,4,:) = x';
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end
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elseif nargin == 2
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% transl(x,y) -> T
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t = [x; y];
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T = rt2tr( eye(2), t);
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elseif nargin == 3
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% transl(x,y,z) -> T
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t = [x; y; z];
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T = rt2tr( eye(3), t);
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end
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