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tr2jac

Jacobian for differential motion

J = tr2jac(tab) is a Jacobian matrix (6x6) that maps spatial velocity or differential motion from frame {A} to frame {B} where the pose of {B} relative to {A} is represented by the homogeneous transform tab (4x4).

J = tr2jac(tab, 'samebody') is a Jacobian matrix (6x6) that maps spatial velocity or differential motion from frame {A} to frame {B} where both are attached to the same moving body. The pose of {B} relative to {A} is represented by the homogeneous transform tab (4x4).

See also

wtrans, tr2delta, delta2tr, SE3.velxform


 

© 1990-2014 Peter Corke.