rt_tr2rot - homogeneous transform to rotation submatrix[view code]

Calling Sequence

R = rt_tr2rot(T)

Parameters

• T : 4-by-4 matrix. The homogeneous transform.
• R : 3-by-3 matrix. It corresponds to the rotational part of the homogeneous transform T.

Description

Return the rotational part of the homogeneous transform T.

Examples

   // A rotation of 45degrees about the Z-axis
   T = rt_rotz(%pi/4),

   // Extract the rotational part of T
   R = rt_tr2rot(T),

  

See Also

rt_transl,  rt_rotx,  rt_roty,  rt_rotz,  rt_rotvec,  

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