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logarithm of SO(3) or SE(3) matrix
s = trlog(R) is the matrix logarithm (3x3) of R (3x3) which is a skew symmetric matrix corresponding to the vector theta*w where theta is the rotation angle and w (3x1) is a unit-vector indicating the rotation axis.
[theta,w] = trlog(R) as above but returns directly theta the rotation angle and w (3x1) the unit-vector indicating the rotation axis.
s = trlog(T) is the matrix logarithm (4x4) of T (4x4) which has a (3x3) skew symmetric matrix upper left submatrix corresponding to the vector theta*w where theta is the rotation angle and w (3x1) is a unit-vector indicating the rotation axis, and a translation component.
[theta,twist] = trlog(T) as above but returns directly theta the rotation angle and a twist vector (6x1) comprising [v w].
© 1990-2014 Peter Corke.