rt_diff2tr - convert a differential motion vector to a homogeneous transform[view code]
Return a homogeneous transform representing differential translation and rotation corresponding to Cartesian velocity x. The resulting matrix contains a skew symmetric rotation submatrix.
// A differential motion can be represented by a 6-element vector with // elements [dx dy dz drx dry drz]. This example shows how rt_diff2tr() // can be used to obtain the homogeneous transform which describes the // differential motion. // generate a differential motion T = rt_diff2tr([0.1, 0.2, 0, -0.2, 0.1, 0.1]),
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