1## Copyright (C) 2021 David Legland
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27
28function trans = createTranslation3d(varargin)
29%CREATETRANSLATION3D Create the 4x4 matrix of a 3D translation.
30%
31%   usage:
32%   TRANS = createTranslation3d(DX, DY, DZ);
33%   return the translation corresponding to DX and DY.
34%   The returned matrix has the form :
35%   [1 0 0 DX]
36%   [0 1 0 DY]
37%   [0 0 1 DZ]
38%   [0 0 0  1]
39%
40%   TRANS = createTranslation3d(VECT);
41%   return the translation corresponding to the given vector [x y z].
42%
43%
44%   See also:
45%   transforms3d, transformPoint3d, transformVector3d,
46%   createRotationOx, createRotationOy, createRotationOz, createScaling3d
47%
48%   ---------
49%
50%   author : David Legland
51%   INRA - TPV URPOI - BIA IMASTE
52%   created the 06/04/2004.
53%
54
55%   HISTORY
56%   22/04/2009 rename as createTranslation3d
57
58
59if isempty(varargin)
60    % assert translation with null vector
61    dx = 0;
62    dy = 0;
63    dz = 0;
64elseif length(varargin)==1
65    % translation vector given in a single argument
66    var = varargin{1};
67    dx = var(1);
68    dy = var(2);
69    dz = var(3);
70else
71    % translation vector given in 3 arguments
72    dx = varargin{1};
73    dy = varargin{2};
74    dz = varargin{3};
75end
76
77% create the translation matrix
78trans = [1 0 0 dx ; 0 1 0 dy ; 0 0 1 dz; 0 0 0 1];
79