![]() |
Relative2AbsoluteJacobianPURPOSE
Jacobian of the displacement function.
SYNOPSIS
function [F W]=Relative2AbsoluteJacobian(P,D)
DESCRIPTION
Jacobian of the displacement function. Returns the Jacobian of the Relative2Absolute function with respect to its two paramters evaluated at P and D. This is denoted by F in the papers. See also Relative2Absolute. CROSS-REFERENCE INFORMATION
This function calls:
SOURCE CODE
0001 function [F W]=Relative2AbsoluteJacobian(P,D) 0002 % Jacobian of the displacement function. 0003 % 0004 % Returns the Jacobian of the Relative2Absolute function 0005 % with respect to its two paramters evaluated at P and D. 0006 % This is denoted by F in the papers. 0007 % 0008 % See also Relative2Absolute. 0009 0010 dx=D.data(1); 0011 dy=D.data(2); 0012 0013 o=P.data(3); 0014 so=sin(o); 0015 co=cos(o); 0016 0017 F=[[1 0 -so*dx-co*dy]; 0018 [0 1 co*dx-so*dy]; 0019 [0 0 1 ]]; % Jacobian of Relative2Absolute w.r.t P 0020 0021 W=[[co -so 0]; 0022 [so co 0]; 0023 [ 0 0 1]]; % Jacobian of Relative2Absolute w.r.t D 0024 |