Scilab Function
Last update : April 2007
rt_oa2tr  orientation and approach vector to homogeneous transform[view code]
Calling Sequence
 T = rt_oa2tr(o, a)
Parameters

o
: 3element vector. It represents the Cartesian orientation vector, expressed with respect to a basic reference frame.

a
: 3element vector. It represents the Cartesian approach vector, expressed with respect to a basic reference frame.

T
: 4by4 matrix. The resulting homogeneous transform.
Description

Return a homogeneous transformation specified in terms of the Cartesian orientation and approach vectors o and a respectively.
Examples
// 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,
Authors
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
Bibliography
Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 2432