Convert rotation matrix to homogeneous transformation

Syntax

tform = rotm2tform(rotm)

Description

tform= rotm2tform(rotm)converts the rotation matrix,rotm, into a homogeneous transformation matrix,tform. The input rotation matrix must be in the premultiply form for rotations. When using the transformation matrix, premultiply it with the coordinates to be transformed (as opposed to postmultiplying).

Examples

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Open Script

rotm = [1 0 0;0 1 0;0 0 -1]; tform = rotm2tform(rotm)

tform = 1 0 0 0 0 -1 0 0 0 0 -1 0 0 0 0 1

Input Arguments

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`rotm`— Rotation matrix
3-by-3-by-nmatrix

Rotation matrix, specified as a 3-by-3-by-nmatrix containingnrotation matrices. Each rotation matrix has a size of 3-by-3 and is orthonormal. The input rotation matrix must be in the premultiply form for rotations.

Example:[0 0 1; 0 1 0; -1 0 0]

Output Arguments

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`tform`— Homogeneous transformation
4-by-4-by-nmatrix

Homogeneous transformation matrix, specified by a 4-by-4-by-nmatrix ofnhomogeneous transformations. When using the rotation matrix, premultiply it with the coordinates to be rotated (as opposed to postmultiplying).

Example:[0 0 1 0; 0 1 0 0; -1 0 0 0; 0 0 0 1]

Documentation

rotm2tform

Syntax

Description

Examples