Last update : April 2007
rt_oa2tr - orientation and approach vector to homogeneous transform[view code]
- T = rt_oa2tr(o, a)
: 3-element vector. It represents the Cartesian orientation vector, expressed with respect to a basic reference frame.
: 3-element vector. It represents the Cartesian approach vector, expressed with respect to a basic reference frame.
: 4-by-4 matrix. The resulting homogeneous transform.
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),
original Matlab version by
Peter I. Corke
CSIRO Manufacturing Science and Technology
Scilab implementation by
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