# transl

Create or unpack an SE3 translational transform

## Create a translational transformation matrix

**T** = transl(**x**, **y**, **z**) is an SE(3) homogeneous transform (4x4) representing
a pure translation of **x**, **y** and **z**.

**T** = transl(**p**) is an SE(3) homogeneous transform (4x4) representing a
translation of **p**=[**x**,**y**,**z**]. If **p** (Mx3) it represents a sequence and **T**
(4x4xM) is a sequence of homogeneous transforms such that **T**(:,:,i)
corresponds to the i'th row of **p**.

## Unpack the translational part of a transformation matrix

**p** = transl(**T**) is the translational part of a homogeneous transform **T** as a
3-element column vector. If **T** (4x4xM) is a homogeneous transform
sequence the rows of **p** (Mx3) are the translational component of the
corresponding transform in the sequence.

[**x**,**y**,**z**] = transl(**T**) is the translational part of a homogeneous transform
**T** as three components. If **T** (4x4xM) is a homogeneous transform sequence
then **x**,**y**,**z** (1xM) are the translational components of the corresponding
transform in the sequence.

## Notes

- Somewhat unusually this function performs a function and its inverse. An
historical anomaly.

## See also

ctraj

Robotics Toolbox for MATLAB © 1990-2014 Peter Corke.