Syntax

H = tilde(T);

H = tilde(W,V);

Description

Returns the twist matrix [4,4] of a twist or wrench vector T [6,1]:

Or returns the twist matrix [4,4] of an angular velocity vector W [3,1] and a velocity vector V [3,1]:

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

Examples

W = [w1 ; w2 ; w3];

V = [v1 ; v2 ; v3];

H = tilde(W,V);

Limitations

H must be of size [4,4], W must always be of size[3,1] , V must have the size [3,1] and T must have size [6,1].