M-File Help: Plucker | View code for Plucker |
Plucker coordinate class
Concrete class to represent a line in Plucker coordinates.
line | Return Plucker line coordinates (1x6) |
side | Side operator |
* | Multiple Plucker matrix by a general matrix |
| | Side operator |
Create Plucker object
p = Plucker(p1, p2) create a Plucker object that represents the line joining the 3D points p1 (3x1) and p2 (3x1).
Convert to string
s = P.char() is a string showing Plucker parameters in a compact single line format.
Display parameters
P.display() displays the Plucker parameters in compact single line format.
Plucker liner coordinates
P.line() is a 6-vector representation of the Plucker coordinates of the line.
Plucker composition
P * M is the product of the Plucker matrix and M (4xN).
M * P is the product of M (Nx4) and the Plucker matrix.
| P2 is the side operator which is zero whenever
the lines P1 and P2 intersect or are parallel.
Side operator
SIDE(p1, p2) is the side operator which is zero whenever the lines p1 and p2 intersect or are parallel.
© 1990-2012 Peter Corke.