Institut de Robòtica i Informàtica Industrial

Relative2Absolute

PURPOSE ^

Adds a displacement to a pose.

SYNOPSIS ^

function P2=Relative2Absolute(P1,D)

DESCRIPTION ^

 Adds a displacement to a pose.

 Adds to P1 a pose displacement, D, expressed in the frame of P1.

 This corresponds to the motion model (or function 'f') in our papers.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function P2=Relative2Absolute(P1,D)
0002 % Adds a displacement to a pose.
0003 %
0004 % Adds to P1 a pose displacement, D, expressed in the frame of P1.
0005 %
0006 % This corresponds to the motion model (or function 'f') in our papers.
0007 
0008     P2=P1+RotatePoseDisplacement(D,P1.data(3));
0009     
0010     
0011


Institut de Robòtica i Informàtica Industrial

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