Coordinate Transformation Conversion

Convert to a specified coordinate transformation representation

  • Library:
  • Robotics System Toolbox / Utilities

Description

The Coordinate Transformation Conversion block converts a coordinate transformation from the input representation to a specified output representation. The input and output representations use the following forms:

  • Axis-Angle (AxAng) – [x y z theta]

  • Euler Angles (Eul) – [z y x], [z y z], or [x y z]

  • Homogeneous Transformation (TForm) – 4-by-4 matrix

  • Quaternion (Quat) – [w x y z]

  • Rotation Matrix (RotM) – 3-by-3 matrix

  • Translation Vector (TrVec) – [x y z]

All vectors must be column vectors.

To accommodate representations that only contain position or orientation information (TrVec or Eul, for example), you can specify two inputs or outputs to handle all transformation information. When you select the Homogeneous Transformation as an input or output, an optional Show TrVec input/output port parameter can be selected on the block mask to toggle the multiple ports.

For more information about the different coordinate transformation representations, see Coordinate Transformations in Robotics.

Ports

Input

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Input transformation, specified as a coordinate transformation. The following representations are supported:

  • Axis-Angle (AxAng) – [x y z theta]

  • Euler Angles (Eul) – [z y x], [z y z], or [x y z]

  • Homogeneous Transformation (TForm) – 4-by-4 matrix

  • Quaternion (Quat) – [w x y z]

  • Rotation Matrix (RotM) – 3-by-3 matrix

  • Translation Vector (TrVec) – [x y z]

All vectors must be column vectors.

To accommodate representations that only contain position or orientation information (TrVec or Eul, for example), you can specify two inputs or outputs to handle all transformation information. When you select the Homogeneous Transformation as an input or output, an optional Show TrVec input/output port parameter can be selected on the block mask to toggle the multiple ports.

Translation vector, specified as a 3-element column vector, [x y z], which corresponds to a translation in the x, y, and z axes respectively. This port can be used to input or output the translation information separately from the rotation vector.

Dependencies

You must select Homogeneous Transformation (TForm) for the opposite transformation port to get the option to show the additional TrVec port. Enable the port by clicking Show TrVec input/output port.

Output Arguments

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Output transformation, specified as a coordinate transformation with the specified representation. The following representations are supported:

  • Axis-Angle (AxAng) – [x y z theta]

  • Euler Angles (Eul) – [z y x], [z y z], or [x y z]

  • Homogeneous Transformation (TForm) – 4-by-4 matrix

  • Quaternion (Quat) – [w x y z]

  • Rotation Matrix (RotM) – 3-by-3 matrix

  • Translation Vector (TrVec) – [x y z]

To accommodate representations that only contain position or orientation information (TrVec or Eul, for example), you can specify two inputs or outputs to handle all transformation information. When you select the Homogeneous Transformation as an input or output, an optional Show TrVec input/output port parameter can be selected on the block mask to toggle the multiple ports.

Translation vector, specified as a three-element column vector, [x y z], which corresponds to a translation in the x, y, and z axes respectively. This port can be used to input or output the translation information separately from the rotation vector.

Dependencies

You must select Homogeneous Transformation (TForm) for the opposite transformation port to get the option to show the additional TrVec port. Enable the port by clicking Show TrVec input/output port.

Parameters

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Select the representation for both the input and output port for the block. If you are using a transformation with only orientation information, you can also select the Show TrVec input/output port when converting to or from a homogeneous transformation.

Toggle the TrVec input or output port when you want to specify or receive a separate translation vector for position information along with an orientation representation.

Dependencies

You must select Homogeneous Transformation (TForm) for the opposite transformation port to get the option to show the additional TrVec port.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Introduced in R2017b