Comments (1)
fcollman
commented on May 28, 2024
Although I agree docs should be added, the form of the matrix is a 3x4 matrix which implies it’s a standard form where you have an xyz1 vector, and you multiply it into the 4x4 and read out the first 3 components.
this puts translation “after” rotation, in the sense that it is expressed in the destination frame.
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