RTSX Help: Differential motion



Convert between differential motion and homogeneous transform


  • T = delta2tr(d)
  • d= tr2delta(T)    
  • d= tr2delta(T0, T1)    

Input/Output Arguments

  • d — 6 x 1 differential motion
  • T, T0, T1 — 4×4 homogeneous transformation matrix


tr2delta( ) converts homogeneous transform to differential motion. d = tr2delta(T0, T1) is the differential motion (6×1) corresponding to infinitessimal motion from pose T0 to T1 which are homogeneous transformations. d=(dx, dy, dz, dRx, dRy, dRz) and is an approximation to the average spatial velocity multiplied by time.

d = tr2delta(T) is the differential motion corresponding to the infinitessimal relative pose T expressed as a homogeneous transformation. d is only an approximation to the motion T, and assumes that T0 ~ T1 or T ~ eye(4,4).

delta2tr( ) converts differential motion to a homogeneous transform. T = delta2tr(d) is a homogeneous transform representing differential translation and rotation.

See Also

  • tr2jac, eul2jac, rpy2jac — Compute Jacobian from homogeneous transform, euler, or RPY angles
  • jacob0, jacobn — Compute Jacobian that maps joint velocity to base or end-effector spatial velocity