matlab中delta2tr,delta2tr.m

%DELTA2TR Convert differential motion to SE(3) homogeneous transform

%

% T = DELTA2TR(D) is a homogeneous transform (4x4) representing differential

% motion D (6x1).

%

% The vector D=(dx, dy, dz, dRx, dRy, dRz) represents infinitessimal translation

% and rotation, and is an approximation to the instantaneous spatial velocity

% multiplied by time step.

%

% Reference::

% - Robotics, Vision & Control: Second Edition, P. Corke, Springer 2016; p67.

%

% See also tr2delta, SE3.delta.

% 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

% of this software and associated documentation files (the "Software"), to deal

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

% to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies

% of the Software, and to permit persons to whom the Software is furnished to do

% so, subject to the following conditions:

%

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

% copies or substantial portions of the Software.

%

% 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

% COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER

% IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN

% CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

%

% https://github.com/petercorke/spatial-math

function delta = delta2tr(d)

d = d(:);

delta = eye(4,4) + [skew(d(4:6)) d(1:3); 0 0 0 0];

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