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Subsections

trans

Syntax

ReturnMatrix trans(const ColumnVector & a);

Description

Given a column vector a, this function returns the following matrix:
$\displaystyle \mbox{\boldmath$ Trans $}(a)$ $\textstyle =$ $\displaystyle \left[\begin{array}{cccc}
1 & 0 & 0 & a_1 \\
0 & 1 & 0 & a_2 \\
0 & 0 & 1 & a_3 \\
0 & 0 & 0 & 1
\end{array}\right]$ (2.15)

Note: the column vector a must have a length of at least 3. Only the first 3 elements are used.

Return Value

Matrix



Richard Gourdeau 2004-07-06