# rotm2tform

Convert rotation matrix to homogeneous transformation

## Syntax

``tform = rotm2tform(rotm)``

## Description

example

````tform = rotm2tform(rotm)` converts the rotation matrix, `rotm`, into a homogeneous transformation matrix, `tform`. The input rotation matrix must be in the premultiply form for rotations. When using the transformation matrix, premultiply it with the coordinates to be transformed (as opposed to postmultiplying).```

## Examples

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```rotm = [1 0 0 ; 0 -1 0; 0 0 -1]; tform = rotm2tform(rotm)```
```tform = 4×4 1 0 0 0 0 -1 0 0 0 0 -1 0 0 0 0 1 ```

## Input Arguments

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Rotation matrix, specified as a 3-by-3-by-n matrix containing n rotation matrices. Each rotation matrix has a size of 3-by-3 and is orthonormal. The input rotation matrix must be in the premultiply form for rotations.

Note

Rotation matrices that are slightly non-orthonormal can give complex outputs. Consider validating your matrix before inputting to the function.

Example: `[0 0 1; 0 1 0; -1 0 0]`

## Output Arguments

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Homogeneous transformation matrix, specified by a 4-by-4-by-n matrix of n homogeneous transformations. When using the rotation matrix, premultiply it with the coordinates to be rotated (as opposed to postmultiplying).

Example: `[0 0 1 0; 0 1 0 0; -1 0 0 0; 0 0 0 1]`