t2r

Rotational submatrix

R = t2r(T) is the orthonormal rotation matrix component of homogeneous transformation matrix T. Works for T in SE(2) or SE(3)

• If T is 4x4, then R is 3x3.
• If T is 3x3, then R is 2x2.

Notes

• For a homogeneous transform sequence returns a rotation matrix sequence
• The validity of rotational part is not checked

See also

r2t, tr2rt, rt2tr

Robotics Toolbox for MATLAB © 1990-2014 Peter Corke.