createTranslation3d

CREATETRANSLATION3D Create the 4x4 matrix of a 3D translation.

   usage:
   TRANS = createTranslation3d(DX, DY, DZ);
   return the translation corresponding to DX and DY.
   The returned matrix has the form :
   [1 0 0 DX]
   [0 1 0 DY]
   [0 0 1 DZ]
   [0 0 0  1]

   TRANS = createTranslation3d(VECT);
   return the translation corresponding to the given vector [x y z].


   See also
   transforms3d, transformPoint3d, transformVector3d,
   createRotationOx, createRotationOy, createRotationOz, createScaling3d

0001 function trans = createTranslation3d(varargin)
0002 %CREATETRANSLATION3D Create the 4x4 matrix of a 3D translation.
0003 %
0004 %   usage:
0005 %   TRANS = createTranslation3d(DX, DY, DZ);
0006 %   return the translation corresponding to DX and DY.
0007 %   The returned matrix has the form :
0008 %   [1 0 0 DX]
0009 %   [0 1 0 DY]
0010 %   [0 0 1 DZ]
0011 %   [0 0 0  1]
0012 %
0013 %   TRANS = createTranslation3d(VECT);
0014 %   return the translation corresponding to the given vector [x y z].
0015 %
0016 %
0017 %   See also
0018 %   transforms3d, transformPoint3d, transformVector3d,
0019 %   createRotationOx, createRotationOy, createRotationOz, createScaling3d
0020 
0021 % ------
0022 % Author: David Legland
0023 % E-mail: david.legland@inrae.fr
0024 % Created: 2004-04-06
0025 % Copyright 2004-2024 INRA - TPV URPOI - BIA IMASTE
0026 
0027 if isempty(varargin)
0028     % assert translation with null vector
0029     dx = 0;
0030     dy = 0;
0031     dz = 0;
0032 elseif isscalar(varargin)
0033     % translation vector given in a single argument
0034     var = varargin{1};
0035     dx = var(1);
0036     dy = var(2);
0037     dz = var(3);
0038 else
0039     % translation vector given in 3 arguments
0040     dx = varargin{1};
0041     dy = varargin{2};
0042     dz = varargin{3};
0043 end
0044 
0045 % create the translation matrix
0046 trans = [1 0 0 dx ; 0 1 0 dy ; 0 0 1 dz; 0 0 0 1];