xyzToTrsf(3)

NAME
xyzToTrsf, multTrsfXyz -- RCCL routines to set the translation component of a transform.

USAGE
#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;

ARGUMENTS

tr --
    Result (and possibly input) transform.

x, y, z --
    Translational coordinates (in millimeters).

DESCRIPTION
These routines modify the translational component of a 4X4 homogeneous transform.

xyzToTrsf() sets the translational component of "tr" to the indicated values.

multTrsfXyz() post-multiplies (in place) "tr" by the specified translation.

SEE ALSO
multTrsf(3), vaoToTrsf(3), rotToTrsf(3), rpyToTrsf(3), eulToTrsf(3).