M-File Help: ishomog

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# ishomog

Test if SE(3) homogeneous transformation

ishomog(T) is true (1) if the argument T is of dimension 4x4 or 4x4xN, else false (0).

ishomog(T, 'valid') as above, but also checks the validity of the rotation sub-matrix.

## Notes

- The first form is a fast, but incomplete, test for a transform is SE(3).
- Does not work for the SE(2) case.

## See also

isrot, isvec

© 1990-2014 Peter Corke.