• Library
• Description
• Default Properties
• Interfacing Function
• Computational Function (type 5)
• See Also
• Bibliography

rt_tr2diff_if

Library

Robotics

Description

Return returns a differential motion vector representing the displacement from the homogeneous transforms given as input.

This block has two regular inputs and both of them are homogeneous transformations.

This block has one regular output.

Default Properties

• always active:no
• direct-feedthrough:yes
• zero-crossing:no
• mode:no
• number/sizes of inputs:2 / [4,4], [4,4]
• number/sizes of activation inputs:0 /
• number/sizes of outputs:1 / [6,1]
• number/sizes of activation outputs:0 /
• continuous-time state:no
• discrete-time state:no
• name of computational function:rt_tr2diff_cf5

Interfacing Function

<PATH>/macros/rt_tr2diff_if.sci

Computational Function (type 5)

<PATH>/macros/rt_tr2diff_cf5.sci

See Also

rt_tr2diff,  

Bibliography

Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32