Definition of elementary rotation matrices

Convert a 3x3 rotation matrix and a 3x1 position vector to a 4x4 homogeneous operator

Convert a 3x3 rotation matrix to 4x4 homogeneous rotational operator

Elementary homogeneous rotational operators

Angle-axis rotation

Convert a 3x1 position vector to a 4x4 homogeneous translational operator

Elementary homogeneous translational operators

Extract 3x3 rotation matrix from 4x4 homogeneous transform

Extract 3x1 position vector from 4x4 homogeneous transform

Compute inverse of a 4x4 homogeneous transform