rt_oa2tr - orientation and approach vector to homogeneous transform[view code]

Calling Sequence

T = rt_oa2tr(o, a)

Parameters

• o : 3-element vector. It represents the Cartesian orientation vector, expressed with respect to a basic reference frame.
• a : 3-element vector. It represents the Cartesian approach vector, expressed with respect to a basic reference frame.
• T : 4-by-4 matrix. The resulting homogeneous transform.

Description

Return a homogeneous transformation specified in terms of the Cartesian orientation and approach vectors o and a respectively.

Examples

   // 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),

  

See Also

rt_rpy2tr,  rt_eul2tr,  

Authors

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

Bibliography

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