%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% T=transform_to_homogeneous(robtarget) Given a robot target specified in RAPID as a position and quaternion. Transform it to a position/orientation specified by a matrix T of position/orientation Author: Arturo Gil. Universidad Miguel Hernández de Elche Date: 05/05/2012 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0002 % T=transform_to_homogeneous(robtarget) 0003 % 0004 % Given a robot target specified in RAPID as a position and quaternion. 0005 % Transform it to a position/orientation specified by a matrix T of position/orientation 0006 % 0007 % Author: Arturo Gil. Universidad Miguel Hernández de Elche 0008 % Date: 05/05/2012 0009 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0010 0011 % Copyright (C) 2012, by Arturo Gil Aparicio 0012 % 0013 % This file is part of ARTE (A Robotics Toolbox for Education). 0014 % 0015 % ARTE is free software: you can redistribute it and/or modify 0016 % it under the terms of the GNU Lesser General Public License as published by 0017 % the Free Software Foundation, either version 3 of the License, or 0018 % (at your option) any later version. 0019 % 0020 % ARTE is distributed in the hope that it will be useful, 0021 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0022 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0023 % GNU Lesser General Public License for more details. 0024 % 0025 % You should have received a copy of the GNU Leser General Public License 0026 % along with ARTE. If not, see <http://www.gnu.org/licenses/>. 0027 function T=transform_to_homogeneous(robtarget) 0028 0029 %position, do not transform to meters 0030 pos = robtarget(1:3); 0031 Q = robtarget(4:7); 0032 0033 T = quaternion2T(Q); 0034 T(1:3,4)=pos';