?? jacobian1.m
字號:
%-------------------------------------------------------
% calculates the J1 jacobian of a pair of transformation
%-------------------------------------------------------
function J = jacobian1(tab, tbc)
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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