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%OA2TR Convert O/A vectors to homogeneous transformation % % TR = OA2TR(O, A) % % Returns a homogeneous tranformation for the specified orientation and % approach vectors. The rotation submatrix is formed from 3 vectors such that % R = [N O A] and N = O x A. % The submatrix is guaranteed to be orthonormal so long as O and A are % not parallel. % % See also: RPY2TR, EUL2TR, OA2R % 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 r = oa2tr(o, a) n = cross(o, a); o = cross(a, n); r = [unit(n(:)) unit(o(:)) unit(a(:)) zeros(3,1); 0 0 0 1];