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