# tr2delta

Convert homogeneous transform to differential motion

**d** = tr2delta(**T0**, **T1**) is the differential motion (6x1) corresponding to
infinitessimal motion from pose **T0** to **T1** which are homogeneous
transformations (4x4). **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.

## Notes

- D is only an approximation to the motion T, and assumes
that T0 ~ T1 or T ~ eye(4,4).

## See also

delta2tr, skew

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