main/src/georegression/transform/twist/TwistOps_F64.java
public static DMatrixRMaj homogenous( Se3_F64 transform , DMatrixRMaj H ) {
		if( H == null ) {
			H = new DMatrixRMaj(4,4);
		} else {
			H.reshape(4,4);
		}
		CommonOps_DDRM.insert(transform.R,H,0,0);
		H.data[3] = transform.T.x;
		H.data[7] = transform.T.y;
		H.data[11] = transform.T.z;

		H.data[12] =0;H.data[13] =0;H.data[14] =0;H.data[15] =1;

		return H;
	}
public static DMatrixRMaj homogenous( Se3_F64 transform , DMatrixRMaj H ) {
		if( H == null ) {
			H = new DMatrixRMaj(4,4);
		} else {
			H.reshape(4,4);
		}
		CommonOps_DDRM.insert(transform.R,H,0,0);
		H.data[3] = transform.T.x;
		H.data[7] = transform.T.y;
		H.data[11] = transform.T.z;

		H.data[12] =0;H.data[13] =0;H.data[14] =0;H.data[15] =1;

		return H;
	}
public static DMatrixRMaj homogenous ( Se3_F64 transform , DMatrixRMaj H ) { if ( H == null ) { H = new DMatrixRMaj ( 4 , 4 ) ; } else { H . reshape ( 4 , 4 ) ; } CommonOps_DDRM . insert ( transform . R , H , 0 , 0 ) ; H . data [ 3 ] = transform . T . x ; H . data [ 7 ] = transform . T . y ; H . data [ 11 ] = transform . T . z ; H . data [ 12 ] = 0 ; H . data [ 13 ] = 0 ; H . data [ 14 ] = 0 ; H . data [ 15 ] = 1 ; return H ; }
Converts the {@link Se3_F64} object into homogenous notation.<br>

[ R , T; 0 , 1]

@param transform transform in regular SE3 format.  If null a new matrix will be declared
@param H (Optional) Storage for homogenous 4x4 matrix.  If null a new matrix is declared.
@return Homogenous matrix
Converts the { @link Se3_F64 } object into homogenous notation . <br >