R2T Return a homogeneous transformation from a rotation T = R2T(R) Return T the 4x4 the homogeneous transformation from the 3x3 rotation R SEE ALSO: T2R
0001 %R2T Return a homogeneous transformation from a rotation 0002 % 0003 % T = R2T(R) 0004 % 0005 % Return T the 4x4 the homogeneous transformation from the 3x3 rotation R 0006 % 0007 % SEE ALSO: T2R 0008 0009 % Copyright (C) 1999-2008, by Peter I. Corke 0010 % 0011 % This file is part of The Robotics Toolbox for Matlab (RTB). 0012 % 0013 % RTB is free software: you can redistribute it and/or modify 0014 % it under the terms of the GNU Lesser General Public License as published by 0015 % the Free Software Foundation, either version 3 of the License, or 0016 % (at your option) any later version. 0017 % 0018 % RTB is distributed in the hope that it will be useful, 0019 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0020 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0021 % GNU Lesser General Public License for more details. 0022 % 0023 % You should have received a copy of the GNU Leser General Public License 0024 % along with RTB. If not, see <http://www.gnu.org/licenses/>. 0025 0026 function T = r2t(R) 0027 0028 T = [R(1:3,1:3) [0;0;0]; 0 0 0 1];