% calc_A_from_s for esponential representation of motion s 6-vector, twist A [4x4] matrix [S(s(1:3) s(4:6); 0 0 0 0] wf 6/2020
0001 %% calc_A_from_s for esponential representation of motion 0002 % 0003 % s 6-vector, twist 0004 % 0005 % A [4x4] matrix [S(s(1:3) s(4:6); 0 0 0 0] 0006 % 0007 % wf 6/2020 0008 0009 function A = calc_A_from_s(s) 0010 0011 A = [calc_S(s(1:3)) s(4:6); 0 0 0 0]; 0012 0013 return