homogeneous

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homogeneous

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Syntax

H = homogeneous(R,P);

Description

Returns the homogenous matrix [4,4] of a rotation matrix R[3,3] and position vector P[3]:

 

Homogeneous

The homogeneous matrix gives a full coordinate transformation from one reference frame to another. It can be used for 3D dynamics.

Examples

R = [cos(alpha),-sin(alpha),0 ; sin(alpha),cos(alpha),0 ; ; 0,0,0];

P = [p1 ; p2 ; p3];

H = homogeneous(R,P);

Limitations

R must always be of size[3,3] , P must have the size [3,1] and H must have size [4,4].