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tr2delta

Convert homogeneous transform to differential motion

d = tr2delta(T0, T1) is the differential motion (6x1) corresponding to infinitessimal motion (in the T0 frame) from pose T0 to T1 which are homogeneous transformations (4x4) or SE3 objects. d=(dx, dy, dz, dRx, dRy, dRz).

d = tr2delta(T) as above but the motion is with respect to the world frame.

Notes

Reference

See also

delta2tr, skew


 

© 1990-2014 Peter Corke.