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Convert rotation and translation to homogeneous transform
TR = rt2tr(R, t) is a homogeneous transformation matrix (N+1xN+1) formed from an orthonormal rotation matrix R (NxN) and a translation vector t (Nx1). Works for R in SO(2) or SO(3):
For a sequence R (NxNxK) and t (NxK) results in a transform sequence (N+1xN+1xK).
© 1990-2014 Peter Corke.