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Absolute2RelativePURPOSE
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:
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 |