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Convert rotation and translation to homogeneous transform
TR = rt2tr(R, t) is a homogeneous transformation matrix (MxM) formed from an orthonormal rotation matrix R (NxN) and a translation vector t (Nx1) where M=N+1.
For a sequence R (NxNxK) and t (kxN) results in a transform sequence (NxNxk).
© 1990-2012 Peter Corke.