Institut de Robòtica i Informàtica Industrial

RotatePoseDisplacement

PURPOSE ^

Rotates a pose displacement.

SYNOPSIS ^

function Pr=RotatePoseDisplacement(D,o)

DESCRIPTION ^

 Rotates a pose displacement.

 Rotates 'o' radiants a given pose displacement, D.
 This is used to transform pose displacements between diferent frames of
 reference.

CROSS-REFERENCE INFORMATION ^

This function calls:
  • Pose Generic pose constructor.
This function is called by:

SOURCE CODE ^

0001 function Pr=RotatePoseDisplacement(D,o)
0002 % Rotates a pose displacement.
0003 %
0004 % Rotates 'o' radiants a given pose displacement, D.
0005 % This is used to transform pose displacements between diferent frames of
0006 % reference.
0007 
0008   R=[[ cos(o) -sin(o) 0];
0009           [ sin(o)  cos(o) 0];
0010        [      0       0 1]];
0011     Pr=Pose(R*D.data);
0012     
0013


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