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MATLAB Command Window

The document contains output from MATLAB containing various transformation matrices (T_ matrices) describing the positions and orientations of objects in a coordinate system. The T_ matrices include those for a tapis, camera viewing a chocolate (T_CameraChoco_Chocolat), camera viewing a box (T_Cameraboite_Emplacement), as well as various intermediate frames between objects in the system (T_01, T_12, etc.). The document also contains transformation matrices relating different reference frames to each other (T_U_ matrices) and combining transformations (T_BW_chocolat, T_BW_boite).

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lyda15
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
35 views6 pages

MATLAB Command Window

The document contains output from MATLAB containing various transformation matrices (T_ matrices) describing the positions and orientations of objects in a coordinate system. The T_ matrices include those for a tapis, camera viewing a chocolate (T_CameraChoco_Chocolat), camera viewing a box (T_Cameraboite_Emplacement), as well as various intermediate frames between objects in the system (T_01, T_12, etc.). The document also contains transformation matrices relating different reference frames to each other (T_U_ matrices) and combining transformations (T_BW_chocolat, T_BW_boite).

Uploaded by

lyda15
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 6

16.04.

12 17:27

MATLAB Command Window

T_WT =
0
1
0
0

-1
0
0
0

0
0
1
0

0
0
-1
1

T_U_Tapis_choco =
1.0000
0
0
0

0
1.0000
0
0

0
0
1.0000
0

0
0.2500
0.2500
1.0000

0
0
1.0000
0

1.5000
-0.2500
0.2500
1.0000

0
0
1.0000
0

0
1.2500
0.2500
1.0000

0
0
1.0000
0

1.5000
1.2500
0.2500
1.0000

T_U_CameraChoco =
1.0000
0
0
0

0
1.0000
0
0

T_U_TapisBoite =
1.0000
0
0
0

0
1.0000
0
0

T_U_CameraBoite =
1.0000
0
0
0

0
1.0000
0
0

T_01 =
[ cos(o1), -sin(o1), 0, 0]
[ sin(o1), cos(o1), 0, 0]
[
0,
0, 1, 0]
[
0,
0, 0, 1]

T_12 =
[ cos(o2), -sin(o2), 0, 17/40]
[ sin(o2), cos(o2), 0,
0]
[
0,
0, 1,
0]
[
0,
0, 0,
1]

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16.04.12 17:27

MATLAB Command Window

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T_23 =
[ cos(o3), -sin(o3), 0, 5/8]
[ sin(o3), cos(o3), 0,
0]
[
0,
0, 1,
0]
[
0,
0, 0,
1]

T_34 =
[
[
[
[

1,
0,
0,
0,

0,
1,
0,
0,

0, 0]
0, 0]
1, d4]
0, 1]

T_BW =
[ cos(o1 + o2 + o3), -sin(o1 + o2 + o3), 0, (5*cos(o1 + o2))/8 + (17*cos(o1))/40]
[ sin(o1 + o2 + o3), cos(o1 + o2 + o3), 0, (5*sin(o1 + o2))/8 + (17*sin(o1))/40]
[
0,
0, 1,
d4]
[
0,
0, 0,
1]

T_TW =
0
-1
0
0

1
0
0
0

0
0
1
0

0
0
1
1

T_CameraChoco_Chocolat =
[ cos(o_ch), -sin(o_ch), 0, x_ch]
[ sin(o_ch), cos(o_ch), 0, y_ch]
[
0,
0, 1,
0]
[
0,
0, 0,
1]

T_Cameraboite_Emplacement =
[ cos(o_b), -sin(o_b), 0, x_b]
[ sin(o_b), cos(o_b), 0, y_b]
[
0,
0, 1,
0]
[
0,
0, 0,
1]

T_U_B =
1.0000
0
0

0
1.0000
0

0
0
1.0000

1.7000
0.7500
0.5000

16.04.12 17:27
0

MATLAB Command Window


0

1.0000

0
1.0000
0
0

0
0
1.0000
0

1.5000
0.2500
0.2500
1.0000

0
0
1.0000
0

-0.2000
-0.5000
-0.2500
1.0000

0
0
1.0000
0

1.2500
0.2500
0.2500
1.0000

T_U_CameraChoco =
1.0000
0
0
0

T_B_CameraChoco =
1.0000
0
0
0

0
1.0000
0
0

T_B_CameraBoite =
1.0000
0
0
0

0
1.0000
0
0

T_BW_chocolat =
[ sin(o_ch), cos(o_ch), 0, x_ch - 1/5]
[ -cos(o_ch), sin(o_ch), 0, y_ch - 1/2]
[
0,
0, 1,
3/4]
[
0,
0, 0,
1]

T_BW_boite =
[ sin(o_b), cos(o_b), 0, x_b + 5/4]
[ -cos(o_b), sin(o_b), 0, y_b + 1/4]
[
0,
0, 1,
5/4]
[
0,
0, 0,
1]

T_WT =
0
1
0
0

-1
0
0
0

0
0
1
0

0
0
-1
1

T_U_Tapis_choco =
1.0000
0

0
1.0000

0
0

0
0.2500

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16.04.12 17:27
0
0

MATLAB Command Window


0
0

1.0000
0

0.2500
1.0000

0
1.0000
0
0

0
0
1.0000
0

1.5000
0.2500
0.2500
1.0000

0
0
1.0000
0

0
1.2500
0.2500
1.0000

0
0
1.0000
0

1.5000
1.2500
0.2500
1.0000

T_U_CameraChoco =
1.0000
0
0
0

T_U_TapisBoite =
1.0000
0
0
0

0
1.0000
0
0

T_U_CameraBoite =
1.0000
0
0
0

0
1.0000
0
0

T_01 =
[ cos(o1), -sin(o1), 0, 0]
[ sin(o1), cos(o1), 0, 0]
[
0,
0, 1, 0]
[
0,
0, 0, 1]

T_12 =
[ cos(o2), -sin(o2), 0, 17/40]
[ sin(o2), cos(o2), 0,
0]
[
0,
0, 1,
0]
[
0,
0, 0,
1]

T_23 =
[ cos(o3), -sin(o3), 0, 5/8]
[ sin(o3), cos(o3), 0,
0]
[
0,
0, 1,
0]
[
0,
0, 0,
1]

T_34 =
[ 1, 0, 0,

0]

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MATLAB Command Window

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[ 0, 1, 0, 0]
[ 0, 0, 1, d4]
[ 0, 0, 0, 1]

T_BW =
[ cos(o1 + o2 + o3), -sin(o1 + o2 + o3), 0, (5*cos(o1 + o2))/8 + (17*cos(o1))/40]
[ sin(o1 + o2 + o3), cos(o1 + o2 + o3), 0, (5*sin(o1 + o2))/8 + (17*sin(o1))/40]
[
0,
0, 1,
d4]
[
0,
0, 0,
1]

T_TW =
0
-1
0
0

1
0
0
0

0
0
1
0

0
0
1
1

T_CameraChoco_Chocolat =
[ cos(o_ch), -sin(o_ch), 0, x_ch]
[ sin(o_ch), cos(o_ch), 0, y_ch]
[
0,
0, 1,
0]
[
0,
0, 0,
1]

T_Cameraboite_Emplacement =
[ cos(o_b), -sin(o_b), 0, x_b]
[ sin(o_b), cos(o_b), 0, y_b]
[
0,
0, 1,
0]
[
0,
0, 0,
1]

T_U_B =
1.0000
0
0
0

0
1.0000
0
0

0
0
1.0000
0

1.7000
0.7500
0.5000
1.0000

0
0
1.0000
0

1.5000
0.2500
0.2500
1.0000

T_U_CameraChoco =
1.0000
0
0
0

0
1.0000
0
0

T_B_CameraChoco =

16.04.12 17:27
1.0000
0
0
0

0
1.0000
0
0

MATLAB Command Window


0
0
1.0000
0

-0.2000
-0.5000
-0.2500
1.0000

0
0
1.0000
0

1.2500
0.2500
0.2500
1.0000

T_B_CameraBoite =
1.0000
0
0
0

0
1.0000
0
0

T_BW_chocolat =
[ sin(o_ch), cos(o_ch), 0, x_ch - 1/5]
[ -cos(o_ch), sin(o_ch), 0, y_ch - 1/2]
[
0,
0, 1,
3/4]
[
0,
0, 0,
1]

T_BW_boite =
[ sin(o_b), cos(o_b), 0, x_b + 5/4]
[ -cos(o_b), sin(o_b), 0, y_b + 1/4]
[
0,
0, 1,
5/4]
[
0,
0, 0,
1]
>>

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