ishomog.m

来自「Robot tool box - provides many functions」· M 代码 · 共 30 行

%ISHOMOG Test if argument is a homogeneous transformation
%
%	H = ISHOMOG(TR)
%
%  Returns true (1) if the argument tr is of dimension 4x4.

% Copyright (C) 2002-2008, 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 h = ishomog(tr)
	if ndims(tr) == 2,
		h =  all(size(tr) == [4 4]);
	else
		h = 0;
	end