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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/REC-html40/loose.dtd"><html><head> <title>Description of transl</title> <meta name="keywords" content="transl"> <meta name="description" content="TRANSL Create translational transform"> <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> <meta name="generator" content="m2html © 2003 Guillaume Flandin"> <meta name="robots" content="index, follow"> <link type="text/css" rel="stylesheet" href="./m2html.css"></head><body><a name="_top"></a><div><a href="./index.html">Home</a> > <a href="index.html">.</a> > transl.m</div><!--<table width="100%"><tr><td align="left"><a href="./index.html"><img alt="<" border="0" src="./left.png"> Master index</a></td><td align="right"><a href="index.html">Index for . <img alt=">" border="0" src="./right.png"></a></td></tr></table>--><h1>transl</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>TRANSL Create translational transform</strong></div><h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>function r = transl(x, y, z) </strong></div><h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="fragment"><pre class="comment">TRANSL Create translational transform TR = TRANSL(X, Y, Z) TR = TRANSL( [X Y Z] ) Returns a homogeneous transformation representing a translation of X, Y and Z. [X Y Z]' = TRANSL(T) Returns the translational part of a homogenous transform as a 3-element column vector. [X Y Z] = TRANSL(TG) Returns a matrix of the X, Y and Z elements extracted from a Cartesian trajectory matrix TG. See also: <a href="ctraj.html" class="code" title="function tt = ctraj(t0, t1, n)">CTRAJ</a>.</pre></div><!-- crossreference --><h2><a name="_cross"></a>CROSS-REFERENCE INFORMATION <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2>This function calls:<ul style="list-style-image:url(./matlabicon.gif)"><li><a href="ishomog.html" class="code" title="function h = ishomog(tr)">ishomog</a> ISHOMOG Test if argument is a homogeneous transformation</li></ul>This function is called by:<ul style="list-style-image:url(./matlabicon.gif)"><li><a href="ftrans.html" class="code" title="function Ft = ftrans(T, F)">ftrans</a> FTRANS Transform force/moment</li><li><a href="trinterp.html" class="code" title="function t = trinterp(T0, T1, r)">trinterp</a> TRINTERP Interpolate homogeneous transformations</li><li><a href="trplot.html" class="code" title="function trplot(T, name, color)">trplot</a> TRPLOT Plot a transformation</li></ul><!-- crossreference --><h2><a name="_source"></a>SOURCE CODE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="fragment"><pre>0001 <span class="comment">%TRANSL Create translational transform</span>0002 <span class="comment">%</span>0003 <span class="comment">% TR = TRANSL(X, Y, Z)</span>0004 <span class="comment">% TR = TRANSL( [X Y Z] )</span>0005 <span class="comment">%</span>0006 <span class="comment">% Returns a homogeneous transformation representing a translation of X, Y</span>0007 <span class="comment">% and Z.</span>0008 <span class="comment">%</span>0009 <span class="comment">% [X Y Z]' = TRANSL(T)</span>0010 <span class="comment">%</span>0011 <span class="comment">% Returns the translational part of a homogenous transform as a 3-element</span>0012 <span class="comment">% column vector.</span>0013 <span class="comment">%</span>0014 <span class="comment">% [X Y Z] = TRANSL(TG)</span>0015 <span class="comment">%</span>0016 <span class="comment">% Returns a matrix of the X, Y and Z elements extracted from a Cartesian</span>0017 <span class="comment">% trajectory matrix TG.</span>0018 <span class="comment">%</span>0019 <span class="comment">% See also: CTRAJ.</span>0020 0021 <span class="comment">% Copyright (C) 1993-2008, by Peter I. Corke</span>0022 <span class="comment">%</span>0023 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0024 <span class="comment">%</span>0025 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0026 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0027 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0028 <span class="comment">% (at your option) any later version.</span>0029 <span class="comment">%</span>0030 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0031 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0032 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0033 <span class="comment">% GNU Lesser General Public License for more details.</span>0034 <span class="comment">%</span>0035 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0036 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0037 0038 <a name="_sub0" href="#_subfunctions" class="code">function r = transl(x, y, z)</a>0039 <span class="keyword">if</span> nargin == 1,0040 <span class="keyword">if</span> <a href="ishomog.html" class="code" title="function h = ishomog(tr)">ishomog</a>(x),0041 r = x(1:3,4);0042 <span class="keyword">elseif</span> ndims(x) == 3,0043 r = squeeze(x(1:3,4,:))';0044 <span class="keyword">else</span>0045 t = x(:);0046 r = [eye(3) t;0047 0 0 0 1];0048 <span class="keyword">end</span>0049 <span class="keyword">elseif</span> nargin == 3,0050 t = [x; y; z];0051 r = [eye(3) t;0052 0 0 0 1];0053 <span class="keyword">end</span></pre></div><hr><address>Generated on Sun 15-Feb-2009 18:09:29 by <strong><a href="http://www.artefact.tk/software/matlab/m2html/">m2html</a></strong> © 2003</address></body></html>⌨️ 快捷键说明
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