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# trnorm

Normalize a homogeneous transform

tn = trnorm(T) is a normalized homogeneous transformation matrix in which the rotation submatrix R = [N,O,A] is guaranteed to be a proper orthogonal matrix. The O and A vectors are normalized and the normal vector is formed from N = O x A, and then we ensure that O and A are orthogonal by O = A x N.

## Notes

- Used to prevent finite word length arithmetic causing transforms to become `unnormalized'.

## See also

oa2tr

© 1990-2014 Peter Corke.