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calc_s_from_A

PURPOSE ^

% calc_s_from_A for exponential representation of motion

SYNOPSIS ^

function s = calc_s_from_A(A)

DESCRIPTION ^

% calc_s_from_A for exponential representation of motion

 A     [4x4] matrix, [S(s(1:3) s(4:6); 0 0 0 0]

 s     6-vector, twist

 wf 6/2020

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %% calc_s_from_A for exponential representation of motion
0002 %
0003 % A     [4x4] matrix, [S(s(1:3) s(4:6); 0 0 0 0]
0004 %
0005 % s     6-vector, twist
0006 %
0007 % wf 6/2020
0008 
0009 function s = calc_s_from_A(A)
0010 
0011 % rotation component
0012 s(1:3) = calc_v_from_S(A(1:3,1:3));
0013 % translation component
0014 s(4:6) = A(1:3,4);
0015 % twist vector
0016 s=s(:);
0017 
0018 return

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