htz.m

来自「针对移动机械臂运动学」· M 代码 · 共 10 行

function ht = htz (z)
%HTZ(z) Homogeneous translation over Z-axis

%July ~ December 2005, by Reinaldo M. do Nascimento

		p = [0; 0; z];
	   ht = [eye(3)		p;
			0	0	0	1];