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# oa2tr

Convert orientation and approach vectors to homogeneous transformation

T = oa2tr(o, a) is an SE(3) homogeneous tranformation (4x4) for the specified orientation and approach vectors (3x1) formed from 3 vectors such that R = [N o a] and N = o x a.

## Notes

- The rotation submatrix is guaranteed to be orthonormal so long as O and A are not parallel.
- The translational part is zero.
- The vectors O and A are parallel to the Y- and Z-axes of the coordinate frame.

## References

- Robot manipulators: mathematis, programming and control Richard Paul, MIT Press, 1981.

## See also

rpy2tr, eul2tr, oa2r

© 1990-2014 Peter Corke.