📄 trinterp.html
字号:
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/REC-html40/loose.dtd"><html><head> <title>Description of trinterp</title> <meta name="keywords" content="trinterp"> <meta name="description" content="TRINTERP Interpolate homogeneous transformations"> <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> > trinterp.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>trinterp</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>TRINTERP Interpolate homogeneous transformations</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 t = trinterp(T0, T1, r) </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">TRINTERP Interpolate homogeneous transformations TR = TRINTERP(T0, T1, R) Returns a homogeneous transform interpolation between T0 and T1 as R varies from 0 to 1. Rotation is interpolated using quaternion spherical linear interpolation. See also: <a href="ctraj.html" class="code" title="function tt = ctraj(t0, t1, n)">CTRAJ</a>, QUATERNION</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="transl.html" class="code" title="function r = transl(x, y, z)">transl</a> TRANSL Create translational transform</li></ul>This function is called by:<ul style="list-style-image:url(./matlabicon.gif)"><li><a href="ctraj.html" class="code" title="function tt = ctraj(t0, t1, n)">ctraj</a> CTRAJ Compute a Cartesian trajectory between two points</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">%TRINTERP Interpolate homogeneous transformations</span>0002 <span class="comment">%</span>0003 <span class="comment">% TR = TRINTERP(T0, T1, R)</span>0004 <span class="comment">%</span>0005 <span class="comment">% Returns a homogeneous transform interpolation between T0 and T1 as</span>0006 <span class="comment">% R varies from 0 to 1. Rotation is interpolated using quaternion</span>0007 <span class="comment">% spherical linear interpolation.</span>0008 <span class="comment">%</span>0009 <span class="comment">% See also: CTRAJ, QUATERNION</span>0010 0011 <span class="comment">% Copyright (C) 1993-2008, by Peter I. Corke</span>0012 <span class="comment">%</span>0013 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0014 <span class="comment">%</span>0015 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0016 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0017 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0018 <span class="comment">% (at your option) any later version.</span>0019 <span class="comment">%</span>0020 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0021 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0022 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0023 <span class="comment">% GNU Lesser General Public License for more details.</span>0024 <span class="comment">%</span>0025 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0026 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0027 0028 <a name="_sub0" href="#_subfunctions" class="code">function t = trinterp(T0, T1, r)</a>0029 0030 q0 = quaternion(T0);0031 q1 = quaternion(T1);0032 0033 p0 = <a href="transl.html" class="code" title="function r = transl(x, y, z)">transl</a>(T0);0034 p1 = <a href="transl.html" class="code" title="function r = transl(x, y, z)">transl</a>(T1);0035 0036 qr = qinterp(q0, q1, r);0037 pr = p0*(1-r) + r*p1;0038 0039 t = [qr.r pr; 0 0 0 1];</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
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -