tform2rotm

Extract rotation matrix from homogeneous transformation

Description

example

rotm = tform2rotm(tform) extracts the rotational component from a homogeneous transformation, tform, and returns it as an orthonormal rotation matrix, rotm. The translational components of tform are ignored. The input homogeneous transformation must be in the pre-multiply form for transformations. When using the rotation matrix, premultiply it with the coordinates to be rotated (as opposed to postmultiplying).

Examples

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tform = [1 0 0 0; 0 -1 0 0; 0 0 -1 0; 0 0 0 1];
rotm = tform2rotm(tform)
rotm = 3×3

1     0     0
0    -1     0
0     0    -1

Input Arguments

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Homogeneous transformation matrix, specified by a 4-by-4-by-n matrix of n homogeneous transformations. The input homogeneous transformation must be in the pre-multiply form for transformations.

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

Output Arguments

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Rotation matrix, returned as a 3-by-3-by-n matrix containing n rotation matrices. Each rotation matrix has a size of 3-by-3 and is orthonormal. When using the rotation matrix, premultiply it with the coordinates to be rotated (as opposed to postmultiplying).

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