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oa2tr

Convert orientation and approach vectors to homogeneous transformation

T = oa2tr(o, a) is a homogeneous tranformation for the specified orientation and approach vectors (3x1) formed from 3 vectors such that R = [N o a] and N = o x a.

Notes

See also

rpy2tr, eul2tr, oa2r


 

© 1990-2012 Peter Corke.