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