The main work ability
3D transforms
angvec2r - angle/vector to SO3
angvec2tr - angle/vector to SE3
eul2r - Euler angles to SO3
eul2tr - Euler angles to SE3
ishomog - true if argument is SE3
isrot - true if argument is a SO3 matrix
oa2r - orientation and approach vector to SO3
oa2tr - orientation and approach vector to SE3
r2t - SO3 to SE3
rt2tr - (R,t) to SE3
rotx - SO3 for rotation about X-axis
roty - SO3 for rotation about Y-axis
rotz - SO3 for rotation about Z-axis
rpy2r - roll/pitch/yaw angles to SO3
rpy2tr - roll/pitch/yaw angles to SE3
t2r - SE3 to SO3
tr2angvec - SE3/SO3 to angle/vector form
tr2eul - SE3/SO3 to Euler angles
tr2rpy - SE3/SO3 to roll/pitch/yaw angles
tr2rt - SE3 to (R,t)
tranimate - animate a coordinate frame
trchain - evaluate a series of transforms
tripleangle - graphical interactive three angle rotation
transl - set or extract the translational component of SE3
trnorm - normalize SE3
trchain - chain of SE(3) transforms
trplot - plot SE3 as a coordinate frame
trprint - print an SE3
trotx - SE3 for rotation about X-axis
troty - SE3 for rotation about Y-axis
trotz - SE3 for rotation about Z-axis
trscale - SE3 for scale change
* SE3: homogeneous transformation, a 4x4 matrix, in SE(3)
* SO3: rotation matrix, orthonormal 3x3 matrix, in SO(3)
* Functions of the form tr2XX will also accept an SE3 or SO3 as the argument
2D transforms
ishomog2 - true if argument is a 3x3 matrix
isrot2 - true if argument is a 2x2 matrix
rot2 - SO2 rotation
se2 - create SE2
se3 - lift SE2 to SE3
transl2 - set or extract the translational component of SE2
trchain2 - chain of SE2 transforms
trot2 - SO2 rotation
trplot2 - plot SE2 as a coordinate frame
* SE2: homogeneous transformation, a 3x3 matrix, in SE(2)
* SO2: rotation matrix, orthonormal 2x2 matrix, in SO(2)