Scilab Function
Last update : April 2007

rt_oa2tr - orientation and approach vector to homogeneous transform[view code]

Calling Sequence

T = rt_oa2tr(o, a)



Return a homogeneous transformation specified in terms of the Cartesian orientation and approach vectors o and a respectively.


   // Orientation and approach vector expressed with respect to the
   // World frame x = [1 0 0], y = [0 1 0] and z = [0 0 1]:
   o = [-1, 0, 0];
   a = [0, 1, 0];

   // corresponding homogeneous transform
   T = rt_oa2tr(o, a),


See Also

rt_rpy2tr,  rt_eul2tr,  


original Matlab version by

Peter I. Corke CSIRO Manufacturing Science and Technology

Scilab implementation by

Matteo Morelli Interdepartmental Research Center "E. Piaggio", University of Pisa


Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32

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