22 lines
603 B
Matlab
22 lines
603 B
Matlab
function AdT = Adjoint(T)
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% *** CHAPTER 3: RIGID-BODY MOTIONS ***
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% Takes T a transformation matrix SE3.
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% Returns the corresponding 6x6 adjoint representation [AdT].
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% Example Input:
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%
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% clear; clc;
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% T = [[1, 0, 0, 0]; [0, 0, -1, 0]; [0, 1, 0, 3]; [0, 0, 0, 1]];
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% AdT = Adjoint(T)
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%
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% Output:
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% AdT =
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% 1 0 0 0 0 0
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% 0 0 -1 0 0 0
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% 0 1 0 0 0 0
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% 0 0 3 1 0 0
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% 3 0 0 0 0 -1
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% 0 0 0 0 1 0
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[R, p] = TransToRp(T);
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AdT = [R, zeros(3); VecToso3(p) * R, R];
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end |