r2t

Convert rotation matrix to a homogeneous transform

T = r2t(R) is an SE(2) or SE(3) homogeneous transform equivalent to an SO(2) or SO(3) orthonormal rotation matrix R with a zero translational component.

Notes

• Works for T in either SE(2) or SE(3)
• if R is 2x2 then T is 3x3, or
• if R is 3x3 then T is 4x4.
• Translational component is zero.
• For a rotation matrix sequence returns a homogeneous transform sequence.

See also

t2r

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