Scilab Function
Last update : April 2007

rt_trnorm - normalize a homogeneous transform[view code]

Calling Sequence

TN = rt_trnorm(T)



Return a normalized copy of the homogeneous transform T. Finite word length arithmetic can lead to homogeneous transformations in which the rotational submatrix is not orthogonal, that is, det(R) ~= 1.


   // The following example shows how rt_trnorm() can be used to normalize
   // a given homogeneous transform.

   // generate a homogeneous transform
   T = rt_roty(%pi/3),

   // perturb T
   T = [rt_tr2rot(T) + 1e-7*ones(3, 3), [0; 0; 0]; 0, 0, 0, 1],

   // compute determinant of its rotational submatrix

   // generate a normalized copy of T
   T2 = rt_trnorm(T),

   // compute determinant of its rotational submatrix


See Also



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

Funda, J. "Quaternions and homogeneous transform in robotics." Master's thesis, University of Pennsylvania, Apr. 1988.

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