diffToTrsf(3)

NAME
diffToTrsf, trsfToDiff -- Convert between RCCL TRSF and DIFF types (for small displacements only).

USAGE
#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;

ARGUMENTS

tr --
    Result transform.

dr --
    Result differential displacement vector.

t1 --
    Input transform.

d1 --
    Input differential displacement vector.

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 differential displacement vector, and can be represented with the type DIFF.

diffToTrsf() converts the differential displacement vector d1 into the corresponding transform tr.

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

Each of these routines returns a pointer to its result argument.

SEE ALSO
transDiff(3).