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Robotics_Toolbox >> Robotics_Toolbox > delta2tr

delta2tr

Convert differential motion to a homogeneous transform

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Description

T = DELTA2TR(D) is a homogeneous transform representing differential translation and rotation. The vector D=(dx, dy, dz, dRx, dRy, dRz) represents an infinitessimal motion, and is an approximation to the spatial velocity multiplied by time.

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