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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

M=sk(vett)
function M=sk(vett)


%Syntax:
%
% M=sk(v)
%
% The function creates a skew symmetric matrix obatined by 
% applying the skew operator to the vector v.
%
% Es
% v=[10,20,30]
% M=sk(v)
%
%
% Function by Alessandro Formaglio
% Department fo Information Engineering
% University of Siena
% alex@dii.unisi.it

M=[0,-vett(3),vett(2);
    vett(3),0,-vett(1);
    -vett(2),vett(1),0];

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