homogeneous functions

Function	Description
`t2r`	Rotational submatrix
`tr2angvec`	Convert rotation matrix to angle-vector form
`tr2delta`	Convert SE(3) homogeneous transform to differential motion
`tr2eul`	Convert SO(3) or SE(3) matrix to Euler angles
`tr2jac`	Jacobian for differential motion
`tr2rpy`	Convert SO(3) or SE(3) matrix to roll-pitch-yaw angles
`tr2rt`	Convert homogeneous transform to rotation and translation
`tranimate2`	Animate a 2D coordinate frame
`transl`	SE(3) translational homogeneous transform
`transl2`	SE(2) translational homogeneous transform
`trchain`	Compound SE(3) transforms from string
`trchain2`	Compound SE(2) transforms from string
`trexp`	Matrix exponential for so(3) and se(3)
`trinterp`	Interpolate SE(3) homogeneous transformations
`trinterp2`	Interpolate SE(2) homogeneous transformations
`trlog`	Logarithm of SO(3) or SE(3) matrix
`trnorm`	Normalize an SO(3) or SE(3) matrix
`trot2`	SE(2) rotation matrix
`troty`	SE(3) rotation about Y axis
`trotz`	SE(3) rotation about Z axis
`trplot`	Plot a 3D coordinate frame
`trplot2`	Plot a 2D coordinate frame
`trprint`	Compact display of SE(3) homogeneous transformation
`trprint2`	Compact display of SE(2) homogeneous transformation
`trscale`	Homogeneous transformation for pure scale

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