9 lines
215 B
Mathematica
9 lines
215 B
Mathematica
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function Ad_g = Ad_transf(g)
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%Computes adjoint matrix of the homogenous transformation
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%matrix g = [R p; 0 1]
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Ad_g = [g(1:3,1:3), vec2skewSymMat(g(1:3,4))*g(1:3,1:3);
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zeros(3,3), g(1:3,1:3)];
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end
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