trscale

Homogeneous transformation for pure scale

T = TRSCALE(S) is a homogeneous transform (4×4) corresponding to a pure scale change. If S is a scalar the same scale factor is used for x,y,z, else it can be a 3-vector specifying scale in the x-, y- and z-directions.

Note

• This matrix does not belong to SE(3) and if compounded with any SE(3) matrix the result will not be in SE(3).

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