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# trvec2tform

Convert translation vector to homogeneous transformation

## Syntax

``tform = trvec2tform(trvec)``

## Description

example

````tform = trvec2tform(trvec)` converts the Cartesian representation of a translation vector, `trvec`, to the corresponding homogeneous transformation, `tform`. When using the transformation matrix, premultiply it with the coordinates to be transformed (as opposed to postmultiplying).```

## Examples

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```trvec = [0.5 6 100]; tform = trvec2tform(trvec)```
```tform = 4×4 1.0000 0 0 0.5000 0 1.0000 0 6.0000 0 0 1.0000 100.0000 0 0 0 1.0000 ```

## Input Arguments

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Cartesian representation of a translation vector, specified as an n-by-3 matrix containing n translation vectors. Each vector is of the form t = [x y z].

Example: `[0.5 6 100]`

## Output Arguments

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Homogeneous transformation matrix, returned as 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]`

## See Also

### Topics

Introduced in R2015a