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# trprint

Compact display of homogeneous transformation

trprint(T, options) displays the homogoneous transform in a compact single-line format. If T is a homogeneous transform sequence then each element is printed on a separate line.

s = trprint(T, options) as above but returns the string.

trprint T is the command line form of above, and displays in RPY format.

## Options

'rpy' | display with rotation in roll/pitch/yaw angles (default)
'euler' | display with rotation in ZYX Euler angles
'angvec' | display with rotation in angle/vector format
'radian' | display angle in radians (default is degrees)
'fmt', f | use format string f for all numbers, (default %g)
'label', l | display the text before the transform

## Examples

    >> trprint(T2)
    t = (0,0,0), RPY = (-122.704,65.4084,-8.11266) deg

    >> trprint(T1, 'label', 'A')

    A:t = (0,0,0), RPY = (-0,0,-0) deg

## See also

tr2eul, tr2rpy, tr2angvec

© 1990-2014 Peter Corke.