transl
SE(3) translational homogeneous transform
Create a translational SE(3) matrix
T = TRANSL(X, Y, Z) is an SE(3) homogeneous transform (4×4) representing a pure translation of X, Y and Z.
T = TRANSL(P) is an SE(3) homogeneous transform (4×4) representing a translation of P=[X,Y,Z]. P (M×3) represents a sequence and T (4×4× M) is a sequence of homogeneous transforms such that T(:,:,i) corresponds to the i’th row of P.
Extract the translational part of an SE(3) matrix
P = TRANSL(T) is the translational part of a homogeneous transform T as a 3-element column vector. T (4×4× M) is a homogeneous transform sequence and the rows of P (M×3) are the translational component of the corresponding transform in the sequence.
[X,Y,Z] = TRANSL(T) is the translational part of a homogeneous transform T as three components. If T (4×4× M) is a homogeneous transform sequence then X,Y,Z (1×M) are the translational components of the corresponding transform in the sequence.
Notes
- Somewhat unusually, this function performs a function and its inverse. An historical anomaly.