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# transl

Create translational transform

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

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

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

© 1990-2014 Peter Corke.