% 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
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