RTSX Help: Differential motion
Convert between differential motion and homogeneous transform
- T = delta2tr(d)
- d= tr2delta(T)
- d= tr2delta(T0, T1)
- 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.