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Homogeneous Transformation Matrix Function Set
by Alessandro Formaglio
A set of 9 functions to extend and simplify usage of Robotics Toolbox by Peter Corke
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| h2t(H)
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function D = h2t(H)
%Syntax:
%
% D=h2t(H)
%
% This function returns the 3-by-1 translation vector D contained inside
% the homogeneous transformation matrix H
%
% Es:
% H=hx(90,1,0,1)
% D=h2t(H)
%
%
% Function by Alessandro Formaglio
% Department fo Information Engineering
% University of Siena
% alex@dii.unisi.it
D = [ H(1,4);
H(2,4);
H(3,4)]; |
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