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# delta2tr

Convert differential motion to a homogeneous transform

T = delta2tr(d) is a homogeneous transform (4x4) representing differential translation and rotation. The vector d=(dx, dy, dz, dRx, dRy, dRz) represents an infinitessimal motion, and is an approximation to the spatial velocity multiplied by time.

## See also

tr2delta

© 1990-2014 Peter Corke.