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46 lines
1.4 KiB
46 lines
1.4 KiB
%ISHOMOG2 Test if SE(2) homogeneous transformation
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%
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% ISHOMOG2(T) is true (1) if the argument T is of dimension 3x3 or 3x3xN, else
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% false (0).
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%
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% ISHOMOG2(T, 'valid') as above, but also checks the validity of the rotation
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% sub-matrix.
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%
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% Notes::
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% - The first form is a fast, but incomplete, test for a transform in SE(3).
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% - Does not work for the SE(3) case.
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%
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% See also ISHOMOG, ISROT2, ISVEC.
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% Copyright (C) 1993-2014, 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 h = ishomog2(tr, rtest)
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d = size(tr);
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if ndims(tr) >= 2
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h = all(d(1:2) == [3 3]);
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if h && nargin > 1
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h = abs(det(tr(1:2,1:2)) - 1) < eps;
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end
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else
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h = false;
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end
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