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31 lines
1.1 KiB
31 lines
1.1 KiB
%SE3 Lift SE(2) transform to SE(3)
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%
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% T3 = SE3(T2) returns a homogeneous transform (4x4) that represents
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% the same X,Y translation and Z rotation as does T2 (3x3).
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%
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% See also SE2, TRANSL, ROTX.
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% Copyright (C) 1993-2015, 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 = se3(x)
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if all(size(x) == [3 3])
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T = [x(1:2,1:2) [0 0]' x(1:2,3); 0 0 1 0; 0 0 0 1];
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end
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