SE2 Representation of 2D rigid-body motion
This subclasss of RTBPose is an object that represents rigid-body motion in 2D.
Internally this is a 3x3 homogeneous transformation matrix (3x3) belonging to
the group SE(2).
Constructor methods::
SE2 general constructor
SE2.exp exponentiate an se(2) matrix
SE2.rand random transformation
new new SE2 object
Display and print methods::
animate ^graphically animate coordinate frame for pose
display ^print the pose in human readable matrix form
plot ^graphically display coordinate frame for pose
print ^print the pose in single line format
Group operations::
* ^mtimes: multiplication (group operator, transform point)
/ ^mrdivide: multiply by inverse
^ ^mpower: exponentiate (integer only):
inv inverse
prod ^product of elements
Methods::
det determinant of matrix component
eig eigenvalues of matrix component
log logarithm of rotation matrix
inv inverse
simplify* apply symbolic simplication to all elements
interp interpolate between poses
theta rotation angle
Information and test methods::
dim ^returns 2
isSE ^returns true
issym ^test if rotation matrix has symbolic elements
SE2.isa test if matrix is SE(2)
Conversion methods::
char* convert to human readable matrix as a string
SE2.convert convert SE2 object or SE(2) matrix to SE2 object
double convert to rotation matrix
R convert to rotation matrix
SE3 convert to SE3 object with zero translation
SO2 convert rotational part to SO2 object
T convert to homogeneous transformation matrix
Twist convert to Twist object
t get.t: convert to translation column vector
Compatibility methods::
isrot2 ^returns false
ishomog2 ^returns true
tr2rt ^convert to rotation matrix and translation vector
t2r ^convert to rotation matrix
transl2 ^translation as a row vector
trprint2 ^print single line representation
trplot2 ^plot coordinate frame
tranimate2 ^animate coordinate frame
^ inherited from RTBPose class.
