trvec2tform

Convert translation vector to homogeneous transformation

Syntax

tform = trvec2tform(trvec)

Description

tform = trvec2tform(trvec) converts the Cartesian representation of a translation vector, trvec, to the corresponding homogeneous transformation, tform. When using the transformation matrix, premultiply it with the coordinates to be transformed (as opposed to postmultiplying).

Examples

Convert Translation Vector to Homogeneous Transformation

trvec = [0.5 6 100];
tform = trvec2tform(trvec)

tform = 4×4

    1.0000         0         0    0.5000
         0    1.0000         0    6.0000
         0         0    1.0000  100.0000
         0         0         0    1.0000

Input Arguments

trvec — Cartesian representation of a translation vector

n-by-3 matrix

Cartesian representation of a translation vector, specified as an n-by-3 matrix containing n translation vectors. Each vector is of the form t = [x y z].

Example: [0.5 6 100]

Output Arguments

tform — Homogeneous transformation

4-by-4-by-n matrix

Homogeneous transformation matrix, returned as a 4-by-4-by-n matrix of n homogeneous 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