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trexp2

matrix exponential for so(2) and se(2)

SO(2)

R = trexp2(omega) is the matrix exponential (2x2) of the so(2) element omega that yields a rotation matrix (2x2).

R = trexp2(theta) as above, but rotation by theta (1x1).

SE(2)

T = trexp2(sigma) is the matrix exponential (3x3) of the se(2) element sigma that yields a homogeneous transformation matrix (3x3).

T = trexp2(tw) as above, but the se(2) value is expressed as a vector tw (1x3).

T = trexp2(sigma, theta) as above, but se(2) rotation of sigma*theta, the rotation part of sigma (3x3) must be unit norm.

T = trexp(tw, theta) as above, but se(2) rotation of tw*theta, the rotation part of tw must be unit norm.

Notes

References

See also

trexp, skew, skewa, Twist


 

© 1990-2014 Peter Corke.