matlab hpopup2,e2h.m · octopus/spatialmath-matlab - Gitee.com

%E2H Euclidean to homogeneous

%

% H = E2H(E) is the homogeneous version (K+1xN) of the Euclidean

% points E (KxN) where each column represents one point in R^K.

%

% Reference::

% - Robotics, Vision & Control: Second Edition, P. Corke, Springer 2016; p604.

%

% See also H2E.

% Copyright (C) 1993-2019 Peter I. Corke

%

% This file is part of The Spatial Math Toolbox for MATLAB (SMTB).

%

% Permission is hereby granted, free of charge, to any person obtaining a copy

% of this software and associated documentation files (the "Software"), to deal

% in the Software without restriction, including without limitation the rights

% to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies

% of the Software, and to permit persons to whom the Software is furnished to do

% so, subject to the following conditions:

%

% The above copyright notice and this permission notice shall be included in all

% copies or substantial portions of the Software.

%

% THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR

% IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS

% FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR

% COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER

% IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN

% CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

%

% https://github.com/petercorke/spatial-math

function h = e2h(e)

h = [e; ones(1,numcols(e))];

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