Institut de Robòtica i Informàtica Industrial

Relative2AbsoluteJacobian

PURPOSE ^

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:
This function is called by:

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


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