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Homogeneous Transformation Matrix Function Set

Homogeneous Transformation Matrix Function Set

by

 

22 Jan 2007 (Updated )

A set of 9 functions to extend and simplify usage of Robotics Toolbox by Peter Corke

h2r(H)
function R = h2r(H)


%Syntax:
%
% R=h2r(H)
%
% This function returns the 3-by-3 rotation matrix R contained inside 
% the homogeneous transformation matrix H
%
% Es:
% H=hx(90,1,0,1)
% R=h2r(H)
%
%
% Function by Alessandro Formaglio
% Department fo Information Engineering
% University of Siena
% alex@dii.unisi.it

R = [ H(1,1),   H(1,2),     H(1,3);
      H(2,1),   H(2,2),     H(2,3);
      H(3,1),   H(3,2),     H(3,3)];

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