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# t2r

Return rotational submatrix of a homogeneous transformation

R = t2r(T) is the orthonormal rotation matrix component of homogeneous transformation matrix T:

## Notes

- 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.

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

## See also

r2t, tr2rt, rt2tr

© 1990-2014 Peter Corke.