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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

h2t(H)
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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