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59 lines
1.6 KiB
59 lines
1.6 KiB
%SE2 Create planar translation and rotation transformation
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%
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% T = SE2(X, Y, THETA) is a 3x3 homogeneous transformation SE(2)
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% representing translation X and Y, and rotation THETA in the plane.
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%
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% T = SE2(XY) as above where XY=[X,Y] and rotation is zero
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%
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% T = SE2(XY, THETA) as above where XY=[X,Y]
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%
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% T = SE2(XYT) as above where XYT=[X,Y,THETA]
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%
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% See also TRPLOT2.
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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 = se2(a, b, c)
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if length(a) == 3
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x = a(1);
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y = a(2);
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th = a(3);
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elseif length(a) == 2
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x = a(1);
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y = a(2);
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if nargin < 2
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th = 0;
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else
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th = b;
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end
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else
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x = a;
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y = b;
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if nargin < 3
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th = 0;
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else
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th = c;
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end
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end
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cth = cos(th);
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sth = sin(th);
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R = [cth -sth; sth cth];
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t = [R [x; y]; 0 0 1];
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