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Chain 2D transforms from string
T = trchain2(s, q) is a homogeneous transform (3x3) that results from compounding a number of elementary transformations defined by the string s. The string s comprises a number of tokens of the form X(ARG) where X is one of Tx, Ty or R. ARG is the name of a variable in MATLAB workspace or qJ where J is an integer in the range 1 to N that selects the variable from the Jth column of the vector q (1xN).
For example:
trchain('R(q1)Tx(a1)R(q2)Ty(a3)R(q3)', [1 2 3])
is equivalent to computing:
trot2(1) * transl2(a1,0) * trot2(2) * transl2(0,a3) * trot2(3)
© 1990-2014 Peter Corke.