matlab 函数se2,SE2.m · octopus/spatialmath-matlab - Gitee.com

%SE2 Representation of 2D rigid-body motion

%

% This subclasss of RTBPose is an object that represents rigid-body motion in 2D.

% Internally this is a 3x3 homogeneous transformation matrix (3x3) belonging to

% the group SE(2).

%

% Constructor methods::

% SE2 general constructor

% SE2.exp exponentiate an se(2) matrix

% SE2.rand random transformation

% new new SE2 object

%

% Display and print methods::

% animate ^graphically animate coordinate frame for pose

% display ^print the pose in human readable matrix form

% plot ^graphically display coordinate frame for pose

% print ^print the pose in single line format

%

% Group operations::

% * ^mtimes: multiplication (group operator, transform point)

% / ^mrdivide: multiply by inverse

% ^ ^mpower: exponentiate (integer only):

% inv inverse

% prod ^product of elements

%

% Methods::

% det determinant of matrix component

% eig eigenvalues of matrix component

% log logarithm of rotation matrix

% inv inverse

% simplify* apply symbolic simplication to all elements

% interp interpolate between poses

% theta rotation angle

%

% Information and test methods::

% dim ^returns 2

% isSE ^returns true

% issym ^test if rotation matrix has symbolic elements

% SE2.isa test if matrix is SE(2)

%

% Conversion methods::

% char* convert to human readable matrix as a string

% SE2.convert convert SE2 object or SE(2) matrix to SE2 object

% double convert to rotation matrix

% R convert to rotation matrix

% SE3 convert to SE3 object with zero translation

% SO2 convert rotational part to SO2 object

% T convert to homogeneous transformation matrix

% Twist convert to Twist object

% t get.t: convert to translation column vector

%

% Compatibility methods::

% isrot2 ^returns false

% ishomog2 ^returns true

% tr2rt ^convert to rotation matrix and translation vector

% t2r ^convert to rotation matrix

% transl2 ^translation as a row vector

% trprint2 ^print single line representation

% trplot2 ^plot coordinate frame

% tranimate2 ^animate coordinate frame

%

% ^ inherited from RTBPose class.

%

% See also SO2, SE3, RTBPose.

% Copyright (C) 1993-2019 Peter I. Corke

%

% This file is part of The Spatial Math Toolbox for MATLAB (SMTB).

%

% Permission is hereby granted, free of charge, to any person obtaining a copy

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% in the Software without restriction, including without limitation the rights

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% so, subject to the following conditions:

%

% The above copyright notice and this permission notice shall be included in all

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%

% THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR

% IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS

% FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR

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%

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