# se2

SE(2) homogeneous transformation

## Description

The `se2`

object represents an SE(2) transformation as a
homogeneous transformation matrix consisting of a translation and rotation in
2-D.

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

## Creation

### Syntax

### Description

creates an SE(2)
transformation representing an identity rotation with no translation.`transformation`

= se2

creates an SE(2) transformation representing a pure rotation defined by the orthonormal
rotation `transformation`

= se2(`rotation`

)`rotation`

with no translation. The rotation matrix is
represented by the elements in the top left of the transformation.

creates an SE(2) transformation representing a rotation defined by the orthonormal
rotation `transformation`

= se2(`rotation`

,`translation`

)`rotation`

, and the translation
`translation`

. The function applies the rotation matrix first and
the translation vector second.

creates an SE(2) transformation representing a translation and rotation as defined by
the homogeneous transformation `transformation`

= se2(`transformation`

)`transformation`

.

### Input Arguments

## Object Functions

`dist` | Calculate distance between transformations |

`interp` | Interpolate between transformations |

`mrdivide, ./` | Transformation right division |

`mtimes, *` | Transformation multiplication |

`normalize` | Normalize transformation matrix |

`rdivide, ./` | Element-wise transformation right division |

`rotm` | Extract rotation matrix |

`times, .*` | Transformation element-wise multiplication |

`tform` | Extract homogeneous transformation |

`transform` | Apply rigid body transformation to points |

`trvec` | Extract translation vector |

## Examples

## Extended Capabilities

## Version History

**Introduced in R2022b**