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35 lines
1.1 KiB
35 lines
1.1 KiB
% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
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%
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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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%
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% http://www.petercorke.com
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function t = q2tr(q)
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q = double(q);
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s = q(1);
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x = q(2);
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y = q(3);
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z = q(4);
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r = [ 1-2*(y^2+z^2) 2*(x*y-s*z) 2*(x*z+s*y)
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2*(x*y+s*z) 1-2*(x^2+z^2) 2*(y*z-s*x)
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2*(x*z-s*y) 2*(y*z+s*x) 1-2*(x^2+y^2) ];
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t = eye(4,4);
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t(1:3,1:3) = r;
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t(4,4) = 1;
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endfunction
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