M-File Help: rt2tr View code for rt2tr

rt2tr

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).

Notes

See also

t2r, r2t, tr2rt


 

© 1990-2012 Peter Corke.