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35 lines
1.2 KiB
35 lines
1.2 KiB
%WTRANS Transform a wrench between coordinate frames
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%
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% WT = WTRANS(T, W) is a wrench (6x1) in the frame represented by the homogeneous
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% transform T (4x4) corresponding to the world frame wrench W (6x1).
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%
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% The wrenches W and WT are 6-vectors of the form [Fx Fy Fz Mx My Mz].
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%
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% See also TR2DELTA, TR2JAC.
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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 Wt = wtrans(T, W)
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f = W(1:3); m = W(4:6);
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k = cross(f, transl(T) ) + m;
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ft = t2r(T)' * f;
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mt = t2r(T)' * k;
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Wt = [ft; mt];
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