Institut de Robòtica i Informàtica Industrial

Absolute2Relative

PURPOSE ^

Relative displacement between two poses.

SYNOPSIS ^

function D=Absolute2Relative(P1,P2)

DESCRIPTION ^

 Relative displacement between two poses.

 Returns the relative displacement, D, from the pose P1 to pose P2
 expresed in the frame of P1.
 
 This corresponds to the observation function (h) in our papers.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function D=Absolute2Relative(P1,P2)
0002 % Relative displacement between two poses.
0003 %
0004 % Returns the relative displacement, D, from the pose P1 to pose P2
0005 % expresed in the frame of P1.
0006 %
0007 % This corresponds to the observation function (h) in our papers.
0008 
0009   D=RotatePoseDisplacement(P2-P1,-P1.data(3));
0010  
0011


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