Chain 3D transforms from string
T = trchain(s, q) is a homogeneous transform (4x4) that results from compounding a number of elementary transformations defined by the string s. The string s comprises a number of tokens of the form X(ARG) where X is one of Tx, Ty, Tz, Rx, Ry, or Rz. ARG is the name of a variable in MATLAB workspace or qJ where J is an integer in the range 1 to N that selects the variable from the Jth column of the vector q (1xN).
trchain('Rx(q1)Tx(a1)Ry(q2)Ty(a3)Rz(q3)', [1 2 3])
is equivalent to computing:
trotx(1) * transl(a1,0,0) * troty(2) * transl(0,a3,0) * trotz(3)
trchain2, trotx, troty, trotz, transl, SerialLink.trchain, ets
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