Home > .. > Matlab_Uncertain_Frames_sz > calc_M_from_z.m

calc_M_from_z

PURPOSE ^

% determine small motion wrt Mz

SYNOPSIS ^

function M_zeta = calc_M_from_z(zeta,Mz)

DESCRIPTION ^

%  determine small motion wrt Mz

 zeta    6-vector, twist 
 Mz      [4x4] motion matrix
 M_zeta  [4x4] small motion matrix

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function M_zeta    = calc_M_from_z(zeta,Mz)
0002 %%  determine small motion wrt Mz
0003 %
0004 % zeta    6-vector, twist
0005 % Mz      [4x4] motion matrix
0006 % M_zeta  [4x4] small motion matrix
0007 
0008 R      = exp(calc_S(zeta(1:3)));
0009 M_zeta = [R (eye(3)-R)*Mz(1:3,4)+zeta(4:6); 0 0 0 1 ];
0010 
0011 end
0012

Generated on Wed 10-Jun-2020 19:54:31 by m2html © 2005