rt_tr2diff - convert a homogeneous transform to a differential motion vector[view code]
The first form returns a 6-element differential motion vector representing the incremental translation and rotation described by the homogeneous transform T. It is assumed that T is of the form
[0, -delta_z, delta_y, d_x; delta_z, 0, -delta_x, d_y; -delta_y, delta_x, 0, d_z; 0, 0, 0, 0]
The second form of this function returns a differential motion vector representing the displacement from T1 to T2, that is T2 - T1.
// A differential motion can be represented by a 6-element vector with // elements [dx dy dz drx dry drz]. This example shows how rt_tr2diff() // can be used to obtain the differential motion vector from a // homogeneous transforms. // homogeneous transform which descibes incremental translation and // rotation T = [0, -0.1, 0.1, 0.1;.. 0.1, 0, 0.2, 0.2;.. -0.1, -0.2, 0, 0;.. 0, 0, 0, 0]; // compute the incremental translation and rotation described by T d = rt_tr2diff(T);
Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32
R. P. Paul, Robot Manipulators: Mathematics, Programming and Control. Cambridge, Massachusetts: MIT Press, 1981.