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calc_concatenated_M_s

PURPOSE ^

% calculate uncertain concatenated motion M = M2 * M1

SYNOPSIS ^

function [Ms,J] = calc_concatenated_M_s(Msp);

DESCRIPTION ^

% calculate uncertain concatenated motion M = M2 * M1

 Msp   motion pair, Msp.Msp=[Ms1,Ms2] = [4x8], Msp.Csp = [12x12]

 Ms    [4x4] concatenated motion, Ms.Ms , Ms.Cs
 J     [4x8] Jacobian

 wf 6/2020

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function [Ms,J]  = calc_concatenated_M_s(Msp);
0002 %% calculate uncertain concatenated motion M = M2 * M1
0003 %
0004 % Msp   motion pair, Msp.Msp=[Ms1,Ms2] = [4x8], Msp.Csp = [12x12]
0005 %
0006 % Ms    [4x4] concatenated motion, Ms.Ms , Ms.Cs
0007 % J     [4x8] Jacobian
0008 %
0009 % wf 6/2020
0010 
0011 % M2 and M
0012 Ms2    = Msp.Msp(:,5:8);
0013 Ms.Ms  = Ms2 * Msp.Msp(:,1:4);
0014 
0015 % adjoint motion matrix for M2
0016 R2     = Ms2(1:3,1:3);
0017 Z2     = Ms2(1:3,4);
0018 M_2_ad = [R2 zeros(3); calc_S(Z2)*R2 R2];
0019 
0020 % Jacobian and CovM
0021 J      = [M_2_ad eye(6)];
0022 Ms.Cs  = J * Msp.Csp * J';
0023 
0024 return

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