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2 functions added in Matlab/Mathematica 

ProjectToSE3 and ProjectToSO3.
This commit is contained in:
HuanWeng 2018-06-27 17:05:06 -05:00
parent 7e2b5fc602
commit 6b04ae0139
3 changed files with 296 additions and 74 deletions
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6
code/MATLAB/ProjectToSE3.m
View File

@ -1,8 +1,10 @@
%*** BASIC HELPER FUNCTIONS ***
%*** CHAPTER 3: RIGID-BODY MOTIONS ***
function T = ProjectToSE3(mat)
% Takes mat: A matrix near SE(3) to project to SE(3).
% Returns T representing the closest rotation matrix that is in SE(3)
% Returns T representing the closest rotation matrix that is in SE(3).
% This function uses singular-value decomposition and is only compatible
% with matrices close to SE(3).
% Example Inputs:
%{
clear; clc;

6
code/MATLAB/ProjectToSO3.m
View File

@ -1,8 +1,10 @@
%*** BASIC HELPER FUNCTIONS ***
%*** CHAPTER 3: RIGID-BODY MOTIONS ***
function R = ProjectToSO3(mat)
% Takes mat: A matrix near SO(3) to project to SO(3).
% Returns R representing the closest rotation matrix that is in SO(3)
% Returns R representing the closest rotation matrix that is in SO(3).
% This function uses singular-value decomposition and is only compatible
% with matrices close to SO(3).
% Example Inputs:
%{
clear; clc;

358
code/Mathematica/modern_robotics.nb
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