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MakeHomogenousMatrix[m, v] creates a homogeneous transformation matrix from a 3 x 3 rotation matrix m and a 3 x 1 translation vector v. |
MakeHomogenousMatrix[m] creates a homogeneous transformation matrix from a 3 x 3 rotation matrix m with a {0,0,0} translation vector. |
MakeHomogenousMatrix[v] creates a homogeneous transformation matrix from a 3 x 1 translation vector v and with a 3 x 3 identity matrix. |
MakeHomogenousMatrix[o, z] creates a homogeneous transformation matrix of a coordinate frame defined by its vector of origin o and the direction vector of the z-axis z. |
MakeHomogenousMatrix[] creates a 4x4 identity matrix |