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# transl2

Create or unpack an SE2 translational transform

## Create a translational transformation matrix

T = transl2(x, y) is an SE2 homogeneous transform (3x3) representing a pure translation.

T = transl2(p) is a homogeneous transform representing a translation or point p=[x,y]. If p (Mx2) it represents a sequence and T (3x3xM) is a sequence of homogenous transforms such that T(:,:,i) corresponds to the i'th row of p.

## Unpack the translational part of a transformation matrix

p = transl2(T) is the translational part of a homogeneous transform as a 2-element column vector. If T (3x3xM) is a homogeneous transform sequence the rows of p (Mx2) are the translational component of the corresponding transform in the sequence.

## Notes

- Somewhat unusually this function performs a function and its inverse. An historical anomaly.

## See also

transl

© 1990-2014 Peter Corke.