main/src/georegression/struct/se/SpecialEuclideanOps_F64.java
public static DMatrixRMaj toHomogeneous( Se3_F64 se, DMatrixRMaj ret ) {
		if( ret == null )
			ret = new DMatrixRMaj( 4, 4 );
		else {
			ret.set( 3, 0, 0 );
			ret.set( 3, 1, 0 );
			ret.set( 3, 2, 0 );
		}

		CommonOps_DDRM.insert( se.getR(), ret, 0, 0 );
		Vector3D_F64 T = se.getT();

		ret.set( 0, 3, T.x );
		ret.set( 1, 3, T.y );
		ret.set( 2, 3, T.z );
		ret.set( 3, 3, 1 );

		return ret;
	}
public static DMatrixRMaj toHomogeneous( Se3_F64 se, DMatrixRMaj ret ) {
		if( ret == null )
			ret = new DMatrixRMaj( 4, 4 );
		else {
			ret.set( 3, 0, 0 );
			ret.set( 3, 1, 0 );
			ret.set( 3, 2, 0 );
		}

		CommonOps_DDRM.insert( se.getR(), ret, 0, 0 );
		Vector3D_F64 T = se.getT();

		ret.set( 0, 3, T.x );
		ret.set( 1, 3, T.y );
		ret.set( 2, 3, T.z );
		ret.set( 3, 3, 1 );

		return ret;
	}
public static DMatrixRMaj toHomogeneous ( Se3_F64 se , DMatrixRMaj ret ) { if ( ret == null ) ret = new DMatrixRMaj ( 4 , 4 ) ; else { ret . set ( 3 , 0 , 0 ) ; ret . set ( 3 , 1 , 0 ) ; ret . set ( 3 , 2 , 0 ) ; } CommonOps_DDRM . insert ( se . getR ( ) , ret , 0 , 0 ) ; Vector3D_F64 T = se . getT ( ) ; ret . set ( 0 , 3 , T . x ) ; ret . set ( 1 , 3 , T . y ) ; ret . set ( 2 , 3 , T . z ) ; ret . set ( 3 , 3 , 1 ) ; return ret ; }
Converts it into a 4 by 4 homogeneous matrix.

@param se  original 3D transform
@param ret Where the results will be written to.  If null a new matrix is declared. Modified.
@return equivalent homogeneous transform.
Converts it into a 4 by 4 homogeneous matrix .