You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
52 lines
1.7 KiB
52 lines
1.7 KiB
%TRNORM Normalize a homogeneous transform
|
|
%
|
|
% TN = TRNORM(T) is a normalized homogeneous transformation matrix in which
|
|
% the rotation submatrix R = [N,O,A] is guaranteed to be a proper orthogonal
|
|
% matrix. The O and A vectors are normalized and the normal vector is formed from
|
|
% N = O x A, and then we ensure that O and A are orthogonal by O = A x N.
|
|
%
|
|
% Notes::
|
|
% - Used to prevent finite word length arithmetic causing transforms to
|
|
% become `unnormalized'.
|
|
%
|
|
% See also OA2TR.
|
|
|
|
|
|
% Copyright (C) 1993-2011, by Peter I. Corke
|
|
%
|
|
% This file is part of The Robotics Toolbox for Matlab (RTB).
|
|
%
|
|
% RTB is free software: you can redistribute it and/or modify
|
|
% it under the terms of the GNU Lesser General Public License as published by
|
|
% the Free Software Foundation, either version 3 of the License, or
|
|
% (at your option) any later version.
|
|
%
|
|
% RTB is distributed in the hope that it will be useful,
|
|
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
% GNU Lesser General Public License for more details.
|
|
%
|
|
% You should have received a copy of the GNU Leser General Public License
|
|
% along with RTB. If not, see <http://www.gnu.org/licenses/>.
|
|
|
|
function r = trnorm(t)
|
|
|
|
if ndims(t) == 3
|
|
nd = size(t, 3);
|
|
r = zeros(4,4,nd);
|
|
for i=1:nd
|
|
r(:,:,i) = trnorm(t(:,:,i));
|
|
end
|
|
return
|
|
end
|
|
|
|
if all(size(t) == [4 4])
|
|
n = cross(t(1:3,2), t(1:3,3)); % N = O x A
|
|
o = cross(t(1:3,3), n); % O = A x N
|
|
r = [unit(n) unit(t(1:3,2)) unit(t(1:3,3)) t(1:3,4); 0 0 0 1];
|
|
elseif all(size(t) == [3 3])
|
|
r = t;
|
|
else
|
|
error('RTB:trnorm:badarg', 'argument must be 3x3 or 4x4 hom xform');
|
|
end
|
|
|