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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