14 lines
437 B
Matlab
14 lines
437 B
Matlab
|
function [c] = getxyz(poses, j)
|
||
|
|
% The function extract the Cartesian variables from pose (pose.p = positions,
|
||
|
|
% pose.R = rotations). In particular, if there are T poses,
|
||
|
|
% - getxyz(pose, 1) estracts the vector x \in R^T,
|
||
|
|
% - getxyz(pose, 2) estracts the vector y \in R^T,
|
||
|
|
% - getxyz(pose, 3) estracts the vector z \in R^T.
|
||
|
|
|
||
|
|
L = length(poses);
|
||
|
|
c = [];
|
||
|
|
for i=1:L % for each pose
|
||
|
|
c = [c poses(i).p(j)];
|
||
|
|
end
|
||
|
|
|
||
|
|
c = c(:); % column vector
|