adjoint

Navigation:  Language Reference > Functions > Matrix >

adjoint

Previous pageReturn to chapter overviewNext page

Syntax

Y = adjoint(T);

Y = adjoint(W,V);

Description

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

 

Adjoint1

or returns the adjoint matrix [6,6] of an angular velocity vector W [3,1] and a velocity vector V [3,1]:

 

Adjoint2

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

Examples

W = [w1 ; w2 ; w3];

V = [v1 ; v2 ; v3];

Y = adjoint(W,V);

Limitations

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