%% Get Transform Between Frames for Robot Configuration
% Get the transform between two frames for a specific robot configuration.
% Load a sample robots that include the puma1 robot.

load exampleRobots.mat

%
% Get the transform between the 'L2' and 'L6' bodies of the puma1 robot given a specific configuration. The transform converts points in 'L6' frame to the 'L2' frame.

transform = getTransform(puma1,randomConfiguration(puma1),'L2','L6')

% Copyright 2012 The MathWorks, Inc.