Main Content

rotm2tform

Convert rotation matrix to homogeneous transformation

所有的页面崩溃

Syntax

tform = rotm2tform(rotm)

Description

example

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

collapse all

Open Live Script 
rotm = [1 0 0;0 1 0;0 0 -1]; tform = rotm2tform(rotm)
tform =4×41 0 0 0 0 -1 0 0 0 0 -1 0 0 0 0 1

Input Arguments

collapse all

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.

Note

Rotation matrices that are slightly non-orthonormal can give complex outputs. Consider validating your matrix before inputting to the function.

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

Output Arguments

collapse all

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]

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2015a

See Also