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# r2t

Convert rotation matrix to a homogeneous transform

T = r2t(R) is an SE(2) or SE(3) homogeneous transform equivalent to an SO(2) or SO(3) orthonormal rotation matrix R with a zero translational component.

## Notes

- Works for T in either SE(2) or SE(3)

- if R is 2x2 then T is 3x3, or
- if R is 3x3 then T is 4x4.

- Translational component is zero.
- For a rotation matrix sequence returns a homogeneous transform sequence.

## See also

t2r

© 1990-2014 Peter Corke.