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30 lines
1.2 KiB
30 lines
1.2 KiB
%DELTA2TR Convert differential motion to a homogeneous transform
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%
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% T = DELTA2TR(D) is a homogeneous transform representing differential
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% translation and rotation. The vector D=(dx, dy, dz, dRx, dRy, dRz)
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% represents an infinitessimal motion, and is an approximation to the spatial
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% velocity multiplied by time.
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%
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% See also TR2DELTA.
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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 delta = delta2tr(d)
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d = d(:);
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delta = eye(4,4) + [skew(d(4:6)) d(1:3); 0 0 0 0];
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