se3
SE(3) homogeneous transformation
Description
The se3
represents an SE(3) transformation as a
homogeneous transformation matrix consisting of a translation and rotation in
3-D.
This object acts like a numerical matrix enabling you to compose poses using multiplication and division.
Creation
Syntax
Description
creates an SE(3)
transformation representing an identity rotation with no translation.transformation
= se3
creates an SE(3) transformation representing a pure rotation defined by the orthonormal
rotation transformation
= se3(rotation
)rotation
with no translation. The rotation matrix is
represented by the elements in the top left of the matrix.
creates an SE(3) transformation representing a rotation defined by the orthonormal
rotation transformation
= se3(rotation
,translation
)rotation
, and the translation
translation
. The function applies the rotation matrix first and
the translation vector second.
creates an SE(3) transformation representing a translation and rotation as defined by
the homogeneous transformation transformation
= se3(transformation
)transformation
.
Input Arguments
Object Functions
dist | Calculate distance between transformations |
interp | Interpolate between transformations |
mrdivide, ./ | Transformation right division |
mtimes, * | Transformation multiplication |
normalize | Normalize transformation matrix |
rdivide, ./ | Element-wise transformation right division |
rotm | Extract rotation matrix |
tform | Extract homogeneous transformation |
times, .* | Transformation element-wise multiplication |
transform | Apply rigid body transformation to points |
trvec | Extract translation vector |
Examples
Extended Capabilities
Version History
Introduced in R2022b