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SO(3) rotational transformation


    The so3 object represents an SO(3) rotational transformation in 3-D.

    This object acts like a numerical matrix enabling you to compose poses using multiplication and division.



    transformation = so3 creates an SO(3) transformation representing an identity rotation with no translation.


    transformation = so3(rotation) creates an SO(3) rotation representing a pure rotation defined by the orthonormal rotation rotation.

    Input Arguments

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    Orthonormal rotation, specified as a 3-by-3 matrix, a 3-by-3-byM array, a scalar so3 object, or an M-element array of so3 objects. M is the total number of rotations.

    Example: eye(3)

    Data Types: single | double

    Object Functions

    distCalculate distance between transformations
    interpInterpolate between transformations
    mtimes, *Transformation multiplication
    mrdivide, ./Transformation right division
    normalizeNormalize transformation matrix
    rdivide, ./Element-wise transformation right division
    rotmExtract rotation matrix
    times, .*Transformation element-wise multiplication
    transformApply rigid body transformation to points


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    Define a 3-by-3 rotation matrix and a three-element translation vector.

    rot = eye(3);
    tr = [3 5 2];

    Create the SO(2) and SO(3) rotations using the rotation matrix rot.

    R2d = so2(rot(1:2,1:2))
    R2d = so2
         1     0
         0     1
    R3d = so3(rot)
    R3d = so3
         1     0     0
         0     1     0
         0     0     1

    Create the SE(2) and SE(3) rotations using the rotation matrix rot, and the translation vector tr.

    T2d = se2(rot(1:2,1:2),tr(1:2))
    T2d = se2
         1     0     3
         0     1     5
         0     0     1
    T3d = se3(rot,tr)
    T3d = se3
         1     0     0     3
         0     1     0     5
         0     0     1     2
         0     0     0     1

    Extended Capabilities

    C/C++ Code Generation
    Generate C and C++ code using MATLAB® Coder™.

    Version History

    Introduced in R2022b

    See Also