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xytheta

Convert transformation or rotation to compact 2-D pose representation

Since R2023a

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    Syntax

    pose = xytheta(transformation)
    pose = xytheta(rotation)

    Description

    pose = xytheta(transformation) converts a transformation transformation to a compact 2-D pose representation pose.

    example

    pose = xytheta(rotation) converts a rotation rotation to a compact 2-D pose representation pose with no translation.

    example

    Examples

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    Open Live Script

    Create SE(2) transformation with an xy-position of [2 3] and a rotation defined by an angle pi/2.

    pose1 = [2 3 pi/2];
T = se2(pose1,"xytheta")
    T = se2
    0.0000   -1.0000    2.0000
    1.0000    0.0000    3.0000
         0         0    1.0000

    Convert the transformation back into a compact pose.

    pose2 = xytheta(T)
    pose2 = 1×3

    2.0000    3.0000    1.5708
    Open Live Script

    Create SO(2) rotation defined by an angle pi/2.

    angle = pi/2
    angle = 
1.5708

    R = so2(angle,"theta")
    R = so2
    0.0000   -1.0000
    1.0000    0.0000

    Convert the transformation back into a compact pose.

    pose = xytheta(R)
    pose = 1×3

         0         0    1.5708

    Input Arguments

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    Transformation, specified as an se2 object or as an N-element array of se2 objects. N is the total number of transformations.

    Data Types: single | double

    Rotation, specified as an so2 object or as an N-element array of so2 objects. N is the total number of rotations.

    Output Arguments

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    2-D compact pose, returned as an N-by-3 matrix, where each row is of the form [x y theta]. N is the total number of transformations specified. x and y are the xy-position and theta is the rotation about the z-axis.

    Version History

    Introduced in R2023a

    See Also

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