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calc_A_from_s

PURPOSE

% calc_A_from_s for esponential representation of motion

SYNOPSIS

function A = calc_A_from_s(s)

DESCRIPTION

% 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

CROSS-REFERENCE INFORMATION

This function calls:

calc_S % skew matrix of 3-vector

This function is called by:

check_basics_motions_s % check basic relations for motions with exponential repr.
generate_test_data_uncertain_frames % generate test data for checking uncertain frames

SOURCE CODE

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