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33 lines
1.1 KiB
33 lines
1.1 KiB
%TR2JAC Jacobian for differential motion
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%
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% J = TR2JAC(T) is a Jacobian matrix (6x6) that maps spatial velocity or
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% differential motion from the world frame to the frame represented by
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% the homogeneous transform T.
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%
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% See also WTRANS, TR2DELTA, DELTA2TR.
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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 J = tr2jac(T)
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R = t2r(T);
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J = [
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R' (skew(transl(T))*R)'
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zeros(3,3) R'
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];
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