\input manualMacros.tex
\manBegin
\manPageInfo{RCCL Reference Manual}{}{}
\manTitle{diffToTrsf}{3}
\manSection{NAME}
{\rightskip=0ptplus1fil
{\tt \manName{diffToTrsf}},
{\tt \manName{trsfToDiff}}
-- Convert between RCCL {\tt TRSF} and {\tt DIFF} types (for small
displacements only).
} 
\manSection{USAGE}
\cverbatim
#include <robotTypes.h>    /* included as part of <rccl.h> */

TRSF *diffToTrsf (tr, d1)
  TRSF *tr;
  DIFF *d1;

DIFF *trsfToDiff (dr, t1)
  DIFF *dr;
  TRSF *t1;
@endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt tr} --}
Result transform.
\manItem{{\tt dr} --}
Result differential displacement vector.
\manItem{{\tt t1} --}
Input transform.
\manItem{{\tt d1} --}
Input differential displacement vector.
\manSection{DESCRIPTION}
Displacements cannot normally be described by vectors since
rotations cannot be described by vectors. However, if the displacement
is small enough, a vector description is approximately valid. 
Such a vector is called a {\it differential displacement vector\/},
and can be represented with the type {\tt DIFF}.

{\tt diffToTrsf()} converts the differential displacement vector
{\tt d1} into the corresponding transform {\tt tr}.

{\tt trsfToDiff()} converts a small displacement
represented by the transform {\tt t1}
into the corresponding differential displacement vector {\tt dr}.

Each of these routines returns a pointer to its result argument.
\manSection{SEE ALSO}
\rightskip=0ptplus1fil
{\tt transDiff(3)}.
\manEnd
\end

