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%DIFF2TR Convert a differential to a homogeneous transform % % TR = DIFF2TR(D) % % Returns a homogeneous transform representing differential translation % and rotation. The matrix contains a skew symmetric rotation submatrix. % % See also: TR2DIFF. % Copyright (C) 1993-2008, by Peter I. Corke % % This file is part of The Robotics Toolbox for Matlab (RTB). % % RTB is free software: you can redistribute it and/or modify % it under the terms of the GNU Lesser General Public License as published by % the Free Software Foundation, either version 3 of the License, or % (at your option) any later version. % % RTB is distributed in the hope that it will be useful, % but WITHOUT ANY WARRANTY; without even the implied warranty of % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the % GNU Lesser General Public License for more details. % % You should have received a copy of the GNU Leser General Public License % along with RTB. If not, see <http://www.gnu.org/licenses/>. function delta = diff2tr(d) delta =[ 0 -d(6) d(5) d(1) d(6) 0 -d(4) d(2) -d(5) d(4) 0 d(3) 0 0 0 0 ];