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