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tr2delta

Convert homogeneous transform to differential motion

Calling Sequence

D = tr2delta(T0, T1)
D = tr2delta(T)

Description

D = TR2DELTA(T0, T1) is the differential motion (6x1) corresponding to infinitessimal motion from pose T0 to T1 which are homogeneous transformations. D=(dx, dy, dz, dRx, dRy, dRz) and is an approximation to the average spatial velocity multiplied by time.

D = TR2DELTA(T) is the differential motion corresponding to the infinitessimal relative pose T expressed as a homogeneous transformation.

Notes

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