www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\trnorm.m
%TRNORM Normalize a homogeneous transformation. % % TN = TRNORM(T) % % Returns a normalized homogeneous tranformation matrix in which the rotation % submatrix is a proper orthogonal matrix. % The O and V vectors are normalized and the normal vector is formed from % O x A. % % Finite word length arithmetic can cause transforms to become `unnormalized'. % % See also: OA2TR % 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 = trnorm(t) n = cross(t(1:3,2), t(1:3,3)); % N = O x A o = cross(t(1:3,3), n); % O = A x N r = [unit(n) unit(t(1:3,2)) unit(t(1:3,3)) t(1:3,4); 0 0 0 1];