This toolbox includes useful shorthand for representing rotations, translations, scaling, and shear in two and three dimensions. This toolbox also includes tools for Denavit-Hartenberg convention, extended functionality for defining rotations in n-dimensions including basis definitions, checking for elements of the Special Orthogonal and Special Euclidean groups, etc.
Michael Kutzer (2020). kutzer/TransformationToolbox (https://github.com/kutzer/TransformationToolbox), GitHub. Retrieved .