\input manualMacros.tex
\manBegin
\manPageInfo{RCCL Reference Manual}{}{}
\manTitle{xyzToTrsf}{3}
\manSection{NAME}
{\rightskip=0ptplus1fil
{\tt \manName{xyzToTrsf}},
{\tt \manName{multTrsfXyz}}
-- RCCL routines to set the translation component of a transform.

} 
\manSection{USAGE}
\cverbatim
#include <robotTypes.h>    /* included as part of <rccl.h> */

TRSF *xyzToTrsf(tr, x, y, z)
  TRSF *tr;
  float x, y, z;

TRSF *multTrsfXyz(tr, x, y, z)
  TRSF *tr;
  float x, y, z;
@endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt tr} --}
Result (and possibly input) transform.
\manItem{{\tt x}, {\tt y}, {\tt z} --}
Translational coordinates (in millimeters).
\manSection{DESCRIPTION}
These routines modify the translational component of a $4\times4$ 
homogeneous transform.

{\tt xyzToTrsf()} sets the translational component of {\TT tr}
to the indicated values.

{\tt multTrsfXyz()} post-multiplies (in place)
{\TT tr} by the specified translation.
\manSection{SEE ALSO}
\rightskip=0ptplus1fil
{\tt multTrsf(3)}, {\tt vaoToTrsf(3)}, {\tt rotToTrsf(3)}, {\tt rpyToTrsf(3)},
{\tt eulToTrsf(3)}.
\manEnd
\end
