二维空间姿态描述

>> T1 = SE2(1,2,30*pi/180)


T1 = 
    0.8660   -0.5000         1
    0.5000    0.8660         2
         0         0         1
>> axis([0 5 0 5])
>> trplot2(T1,'frame','1','color','b')
>> T2 = SE2(2,1,0)
 

T2 = 
         1         0         2
         0         1         1
         0         0         1
>> hold on
>> trplot2(T2,'frame','2','color','r')
>> T3 = T1 * T2
 

T3 = 
    0.8660   -0.5000     2.232
    0.5000    0.8660     3.866
         0         0         1
>> trplot2(T3,'frame','3','color','g')
>> T4 = T2 * T1
 

T4 = 
    0.8660   -0.5000         3
    0.5000    0.8660         3
         0         0         1
>> trplot2(T4,'frame','4','color','c')

三维空间姿态描述

>> R = rotx(pi/2) 
* roty(pi/2))

>> R =

    1.0000         0         0
         0    0.9996   -0.0274
         0    0.0274    0.9996

 * roty(pi/2))
 ↑
Invalid use of operator.
 
>> R = rotx(pi/2) * roty(pi/2)

R =

    0.9996         0    0.0274
    0.0008    0.9996   -0.0274
   -0.0274    0.0274    0.9992

>> trplot(R)
>> R = roty(pi/2) * rotx(pi/2)

R =

    0.9996    0.0008    0.0274
         0    0.9996   -0.0274
   -0.0274    0.0274    0.9992

>> trplot(R)

>> tranimate(R)
>> R=R*transl(0,1,0)

R =

    1.0000         0         0         0
         0    0.9996   -0.0274    0.9996
         0    0.0274    0.9996    0.0274
         0         0         0    1.0000

>> tranimate(R)
>> tranimate(R)
>> R=R*transl(0,1,0)*transl(1,0,0)

R =

    1.0000         0         0    1.0000
         0    0.9996   -0.0274    1.9992
         0    0.0274    0.9996    0.0548
         0         0         0    1.0000

>> tranimate(R)