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57 lines
1.7 KiB
57 lines
1.7 KiB
%R2T Convert rotation matrix to a homogeneous transform
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%
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% T = R2T(R) is a homogeneous transform equivalent to an orthonormal
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% rotation matrix R with a zero translational component.
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%
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% Notes::
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% - Works for T in either SE(2) or SE(3)
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% - if R is 2x2 then T is 3x3, or
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% - if R is 3x3 then T is 4x4.
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% - Translational component is zero.
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% - For a rotation matrix sequence returns a homogeneous transform
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% sequence.
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%
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% See also 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 T = r2t(R)
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% check dimensions: R is SO(2) or SO(3)
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d = size(R);
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if d(1) ~= d(2)
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error('matrix must be square');
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end
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if ~any(d(1) == [2 3])
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error('argument is not a rotation matrix (sequence)');
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end
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Z = zeros(d(1),1);
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B = [Z' 1];
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if numel(d) == 2
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% single matrix case
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T = [R Z; B];
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else
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% matrix sequence case
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T = zeros(4,4,d(3));
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for i=1:d(3)
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T(:,:,i) = [R(:,:,i) Z; B];
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end
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end
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