www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\t2r.m
%TR2ROT Return rotational submatrix of a homogeneous transformation % % R = TR2ROT(T) % % Return R the 3x3 orthonormal rotation matrix from the homogeneous % transformation T. % % SEE ALSO: ROT2TR % Copyright (C) 1999-2008, 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 = tr2rot(T) if ~ishomog(T) error('input must be a homogeneous transform'); end R = T(1:3,1:3);