Syntax

A = Adjoint(H);

A = Adjoint(R,P);

Description

Returns the adjoint matrix [6,6] of a homogeneous matrix [4,4]:

or returns the adjoint matrix [6,6] of a rotation matrix R [3,3] and position vector P [3]:

The Adjoint function is useful for dynamics described by twists and wrenches.

Examples

R = [cos(alpha),-sin(alpha),0 ; sin(alpha),cos(alpha),0 ; 0,0,0];

P = [p1 ; p2 ; p3];

A = Adjoint(R,P);

Limitations

H must be of size [4,4], R must always be of size[3,3] , P must have the size [3,1] and A must have size [6,6].