?? jacobian1.m
字號(hào):
function J = jacobian1(tab, tbc)
%-------------------------------------------------------
% University of Zaragoza
% Centro Politecnico Superior
% Robotics and Real Time Group
% Authors: J. Neira, J. Tardos
% Date : 7-2002
%-------------------------------------------------------
% function J = jacobian1(tab, tbc)
%
% calculates the jacobian of the composition of a pair
% of transformations with respect to the first one.
%-------------------------------------------------------
if length(tab) ~= 3,
error('Jacobian1: tab is not a transformation!!!');
end
if length(tab) ~= 3,
error('Jacobian1: tbc is not a transformation!!!');
end
p1 = tab(3);
x2 = tbc(1);
y2 = tbc(2);
J = [1 0 -x2*sin(p1) - y2*cos(p1)
0 1 x2*cos(p1) - y2*sin(p1)
0 0 1];
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