%DIFF2TR Convert a differential to a homogeneous transform%% 	TR = DIFF2TR(D)%% Returns a homogeneous transform representing differential translation % and rotation.  The matrix contains a skew symmetric rotation submatrix.%% See also: TR2DIFF.% Copyright (C) 1993-2008, by Peter I. Corke%% This file is part of The Robotics Toolbox for Matlab (RTB).% % RTB is free software: you can redistribute it and/or modify% it under the terms of the GNU Lesser General Public License as published by% the Free Software Foundation, either version 3 of the License, or% (at your option) any later version.% % RTB is distributed in the hope that it will be useful,% but WITHOUT ANY WARRANTY; without even the implied warranty of% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the% GNU Lesser General Public License for more details.% % You should have received a copy of the GNU Leser General Public License% along with RTB.  If not, see <http://www.gnu.org/licenses/>.function delta = diff2tr(d)	delta =[	0	-d(6)	d(5)	d(1)			d(6)	0	-d(4)	d(2)			-d(5)	d(4)	0	d(3)			0	0	0	0	];