delta2tform.m

%delta2tform Convert differential motion  to a homogeneous transform
%
% T = delta2tform(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.
%
% T = delta2tform(D, fliptr=true) will flip the expected order of the
% translational and rotational components in D. When fliptr is set to true,
% the input vector D is expected as D=(dRx, dRy, dRz, dx, dy, dz)
%
% See also tform2delta.

% Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat

function delta = delta2tform(d, varargin)

opt.fliptr = 1;
% Parse name-value pairs (if they are passed)
opt = tb_optparse(opt, varargin);

d = d(:);

if opt.fliptr
    delta = eye(4,4) + [vec2skew(d(1:3)) d(4:6); 0 0 0 0];
else
    delta = eye(4,4) + [vec2skew(d(4:6)) d(1:3); 0 0 0 0];
end

end