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calc_z_from_M_M0

PURPOSE ^

% calc_z_from_M_M0 for partially exponential representation of motion

SYNOPSIS ^

function zeta = calc_z_from_M_M0(M,M0)

DESCRIPTION ^

% calc_z_from_M_M0 for partially exponential representation of motion

 assumption: zeta is small, approximation V(r) = I_3

 M       4x4 matrix, motion
 M0      4x4 reference motion matrix

 zeta    6-vector, twist

 wf 6/2020

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %% calc_z_from_M_M0 for partially exponential representation of motion
0002 %
0003 % assumption: zeta is small, approximation V(r) = I_3
0004 %
0005 % M       4x4 matrix, motion
0006 % M0      4x4 reference motion matrix
0007 %
0008 % zeta    6-vector, twist
0009 %
0010 % wf 6/2020
0011 
0012 function zeta = calc_z_from_M_M0(M,M0)
0013 
0014 % calculate small motion matrix
0015 M_iM0 = M*inv(M0);
0016 % rotation from upper left
0017 zeta(1:3) = calc_v_from_S(M_iM0(1:3,1:3));
0018 % translation from differential of upper right
0019 zeta(4:6) = M(1:3,4)-M0(1:3,4);
0020 % twist
0021 zeta=zeta(:);
0022 
0023 return

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