Homogeneous Transformations Blocks

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Table of Contents > QUARC > Blocks > Blocks - By Category > Block Categories > Math Operations

The homogeneous transformations blocks are intended to be chained together. Starting with the identity matrix, you can added rotation, translation, and scale blocks as necessary to form your final transformation matrix. This can be used to directly drive the Visualization Set Variables block, or it can be used for mathematically represent a change in frames to the end effector of a robot for example.

Identity Transformation	This block outputs a constant 4x4 identity matrix. It is typically placed at the start of a homogeneous transformation chain.
Inverse Transformation	Computes the inverse of a homogeneous transformation.
Rotation Transformation	Multiplies a homogeneous transformation matrix by a rotation matrix with fixed or variable inputs.
Scale Transformation	Multiplies a homogeneous transformation matrix by a scale matrix with fixed or variable inputs.
Transformation from Euler Angles	Creates a homogeneous transformation from an Euler angle representation.
Translation Transformation	Multiplies a homogeneous transformation matrix by a translation matrix with fixed or variable inputs.

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