20 lines
451 B
Mathematica
20 lines
451 B
Mathematica
|
function T = RpToTrans(R, p)
|
||
|
|
% *** CHAPTER 3: RIGID-BODY MOTIONS ***
|
||
|
|
% Takes rotation matrix R and position p.
|
||
|
|
% Returns the corresponding homogeneous transformation matrix T in SE(3).
|
||
|
|
% Example Input:
|
||
|
|
%
|
||
|
|
% clear; clc;
|
||
|
|
% R = [[1, 0, 0]; [0, 0, -1]; [0, 1, 0]];
|
||
|
|
% p = [1; 2; 5];
|
||
|
|
% T = RpToTrans(R, p)
|
||
|
|
%
|
||
|
|
% Output:
|
||
|
|
% T =
|
||
|
|
% 1 0 0 1
|
||
|
|
% 0 0 -1 2
|
||
|
|
% 0 1 0 5
|
||
|
|
% 0 0 0 1
|
||
|
|
|
||
|
|
T = [R, p; 0, 0, 0, 1];
|
||
|
|
end
|