8 lines
204 B
Mathematica
8 lines
204 B
Mathematica
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function m = tw_cord2tw(xi_hat)
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%WEDGE_OPERATOR formes matrix m representing twist from
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%twist coordinates xi = (v ,w)'
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m = [vec2skewSymMat(xi_hat(4:6,1)), xi_hat(1:3,1);
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0, 0, 0, 0];
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end
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