rotm2tform

Convert rotation matrix to homogeneous transformation

Syntax

tform = rotm2tform(rotm)

Description

tform = rotm2tform(rotm) converts the rotation matrix, rotm, into a homogeneous transformation matrix, tform. The input rotation matrix must be in the premultiply form for rotations. When using the transformation matrix, premultiply it with the coordinates to be transformed (as opposed to postmultiplying).

Examples

Convert Rotation Matrix to Homogeneous Transformation

rotm = [1 0 0 ; 0 -1 0; 0 0 -1];
tform = rotm2tform(rotm)

tform = 4×4

     1     0     0     0
     0    -1     0     0
     0     0    -1     0
     0     0     0     1

Input Arguments

rotm — Rotation matrix

3-by-3-by-n matrix

Rotation matrix, specified as a 3-by-3-by-n matrix containing n rotation matrices. Each rotation matrix has a size of 3-by-3 and is orthonormal. The input rotation matrix must be in the premultiply form for rotations.

Note

Rotation matrices that are slightly non-orthonormal can give complex outputs. Consider validating your matrix before inputting to the function.

Example: [0 0 1; 0 1 0; -1 0 0]

Output Arguments

tform — Homogeneous transformation

4-by-4-by-n matrix

Homogeneous transformation matrix, specified by 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™.