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# rt2tr

Convert rotation and translation to homogeneous transform

TR = rt2tr(R, t) is a homogeneous transformation matrix (MxM) formed from an orthonormal rotation matrix R (NxN) and a translation vector t (Nx1) where M=N+1.

For a sequence R (NxNxK) and t (kxN) results in a transform sequence (NxNxk).

## Notes

- Works for R in SO(2) or SO(3)

- If R is 2x2 and t is 2x1, then TR is 3x3
- If R is 3x3 and t is 3x1, then TR is 4x4

- The validity of R is not checked

## See also

t2r, r2t, tr2rt

© 1990-2014 Peter Corke.