Scilab Function
Last update : April 2007

rt_transl - set or extract the translational component of a homogeneous transform[view code]

Calling Sequence

T = rt_transl(x, y, z)
T = rt_transl(v)
v = rt_transl(T)
XZY = rt_transl(TC)



The first two forms return a homogeneous transformation representing a translation expressed as three scalar x, y and z, or a Cartesian vector v.

The third form returns the translational part of a homogeneous transform as a 3-element column vector.

The fourth form returns a matrix whose columns are the X, Y, and Z columns of the 4-by-4-by-m Cartesian trajectory matrix TC.


   // A pure translation of 0.5m in the X direction:
   T = rt_transl(0.5, 0, 0);

   // Extract the translational part of T
   p = rt_transl(T);

   // Generate a Cartesian trajectory between T0 and T1
   T0 = rt_transl(0, 0, 0);
   T1 = rt_transl([-1 2 1]);
   t = 0:0.056:10;
   r = rt_jtraj(0, 1, t);
   TC = rt_ctraj(T0, T1, r);

   // Extract the translational part from Cartesian trajectory
   XYZ = rt_transl(TC);


See Also

rt_ctraj,  rt_rotx,  rt_roty,  rt_rotz,  rt_rotvec,  


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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