# 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.