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tform

Extract homogeneous transformation

Since R2022b

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    Syntax

    transformationMatrix = tform(transformation)
    transformationMatrix = tform(rotation)

    Description

    transformationMatrix = tform(transformation) extracts the homogeneous transformation matrix transformationMatrix that corresponds to the SE(2) or SE(3) transformation transformation.

    transformationMatrix = tform(rotation) creates a homogeneous transformation matrix transformationMatrix, with zero translation, that corresponds to the SO(2) or SO(3) rotation rotation.

    Input Arguments

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    Transformation, specified as a scalar se2 object, a scalar se3 object, or an N-element array of transformation objects. N is the total number of transformations.

    If you specify transformation as an array, each element must be of the same type.

    Rotation, specified as a scalar so2 object, a scalar so3 object, or as an N-element array of rotation objects. N is the total number of rotations.

    If you specify rotation as an array, each element must be of the same type.

    Output Arguments

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    Homogeneous transformation matrix, returned as a 3-by-3-by-N array for se2 and so2 objects, or a 4-by-4-by-N array for se3 and so3 objects. N is the total number of transformations.

    Extended Capabilities

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

    Version History

    Introduced in R2022b

    See Also

    Functions

    Objects