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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 tr2diff</title> <meta name="keywords" content="tr2diff"> <meta name="description" content="TR2DIFF Convert a transform difference to differential representation"> <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> > tr2diff.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>tr2diff</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>TR2DIFF Convert a transform difference to differential representation</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 d = tr2diff(t1, t2) </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">TR2DIFF Convert a transform difference to differential representation D = TR2DIFF(T) D = TR2DIFF(T1, T2) First form converts a homogeneous transform representing an infinitessimal motion to a 6-element differential representation. Such a homogeneous transform has a rotational submatrix that is, approximately, skew symmetric. Second form returns the 6-element differential motion required to move from T1 to T2 in base coordinates. See also: <a href="diff2tr.html" class="code" title="function delta = diff2tr(d)">DIFF2TR</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)"></ul>This function is called by:<ul style="list-style-image:url(./matlabicon.gif)"><li><a href="ikine.html" class="code" title="function qt = ikine(robot, tr, q, m)">ikine</a> IKINE Inverse manipulator kinematics</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">%TR2DIFF Convert a transform difference to differential representation</span>0002 <span class="comment">%</span>0003 <span class="comment">% D = TR2DIFF(T)</span>0004 <span class="comment">% D = TR2DIFF(T1, T2)</span>0005 <span class="comment">%</span>0006 <span class="comment">% First form converts a homogeneous transform representing an</span>0007 <span class="comment">% infinitessimal motion to a 6-element differential representation.</span>0008 <span class="comment">% Such a homogeneous transform has a rotational submatrix that is,</span>0009 <span class="comment">% approximately, skew symmetric.</span>0010 <span class="comment">%</span>0011 <span class="comment">% Second form returns the 6-element differential motion required to move</span>0012 <span class="comment">% from T1 to T2 in base coordinates.</span>0013 <span class="comment">%</span>0014 <span class="comment">% See also: DIFF2TR.</span>0015 0016 <span class="comment">% Copyright (C) 1993-2008, by Peter I. Corke</span>0017 <span class="comment">%</span>0018 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0019 <span class="comment">%</span>0020 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0021 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0022 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0023 <span class="comment">% (at your option) any later version.</span>0024 <span class="comment">%</span>0025 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0026 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0027 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0028 <span class="comment">% GNU Lesser General Public License for more details.</span>0029 <span class="comment">%</span>0030 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0031 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0032 0033 <a name="_sub0" href="#_subfunctions" class="code">function d = tr2diff(t1, t2)</a>0034 <span class="keyword">if</span> nargin == 1,0035 d = [ t1(1:3,4);0036 0.5*[t1(3,2)-t1(2,3); t1(1,3)-t1(3,1); t1(2,1)-t1(1,2)]];0037 <span class="keyword">else</span>0038 d = [ t2(1:3,4)-t1(1:3,4);0039 0.5*( cross(t1(1:3,1), t2(1:3,1)) + <span class="keyword">...</span>0040 cross(t1(1:3,2), t2(1:3,2)) + <span class="keyword">...</span>0041 cross(t1(1:3,3), t2(1:3,3)) <span class="keyword">...</span>0042 )];0043 <span class="keyword">end</span>0044</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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