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.
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