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r2t

Convert rotation matrix to a homogeneous transform

T = r2t(R) is an SE(2) or SE(3) homogeneous transform equivalent to an SO(2) or SO(3) orthonormal rotation matrix R with a zero translational component. Works for T in either SE(2) or SE(3):

Notes

See also

t2r


 

© 1990-2014 Peter Corke.