getTransform
Get transform between body frames
Syntax
Description
computes the transform for every frame in the rigid body tree with respect to the
robot base frame, using the specified robot configuration
transform
= getTransform(robot
,configuration
)configuration
.
computes
the transform that converts points in the transform
= getTransform(robot
,configuration
,bodyname
)bodyname
frame
to the robot base frame, using the specified robot configuration.
computes the transform that converts points in the transform
= getTransform(robot
,configuration
,framename
)framename
frame to the robot base frame, using the specified robot configuration.
computes the transform that converts points from the source body frame to the target
body frame, using the specified robot configuration.transform
= getTransform(robot
,configuration
,sourcebody
,targetbody
)
computes the homogenous transformation matrix that transforms points in the source
frame to the target frame, using the specified robot configuration.transform
= getTransform(robot
,configuration
,sourceframe
,targetframe
)
Examples
Input Arguments
Output Arguments
Extended Capabilities
Version History
Introduced in R2016bSee Also
rigidBodyJoint
| rigidBody
| geometricJacobian
| homeConfiguration
| randomConfiguration