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Create translational transform
T = transl(x, y, z) is a homogeneous transform representing a pure translation.
T = transl(p) is a homogeneous transform representing a translation or point p=[x,y,z]. If p (Mx3) it represents a sequence and T (4x4xM) is a sequence of homogenous transforms such that T(:,:,i) corresponds to the i'th row of p.
p = transl(T) is the translational part of a homogenous transform as a 3-element column vector. If T (4x4xM) is a homgoeneous transform sequence the rows of p (Mx3) are the translational component of the corresponding transform in the sequence.
© 1990-2012 Peter Corke.