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Extract homogeneous transformation


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

    Input Arguments

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    Transformation, specified as an se2 object, an se3 object, or an M-element array of se2 or se3 objects. M is the total number of transforms.

    If you specify transformation 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-M array for se2 objects or a 4-by-4-by-M array for se3 objects. M 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