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Robotics_Toolbox >> Robotics_Toolbox > rts_c_xyz2tr

rts_c_xyz2tr

Create translational homogeneous transform matrices

Calling Sequence

T = rts_c_xyz2tr(X, Y, Z)
T = rts_c_xyz2tr([X,Y,Z])

Description

T = RTS_C_XYZ2TR(X, Y, Z) is a homogeneous transform representing a pure translation. If X, Y, Z have dimension (Mx1) they represent a sequence, so that T has dimension 4x(4*M) and it is a sequence of homogenous transforms such that T(:,(1:4)*i) corresponds to the i'th elements of X, Y, Z.

T = RTS_C_XYZ2TR(P) is a homogeneous transform representing a translation of P=[X,Y,Z]. If P has dimension (Mx3) it represents a sequence, so that T has dimension 4x(4*M) and it is a sequence of homogenous transforms such that T(:,(1:4)*i) corresponds to the i'th row of P.

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