- Library
- Description
- Default Properties
- Interfacing Function
- Computational Function (type 5)
- See Also
- Bibliography

Robotics

Return the translational components extracted from the homogeneous transform given as input.

This block has one regular input.

The number of outputs to this block is three and all outputs are regular outputs.
The first output is the `X`-axis component, the second is the `Y`-axis component and the third output is the `Z`-axis component.

- always active:
**no** - direct-feedthrough:
**yes** - zero-crossing:
**no** - mode:
**no** - number/sizes of inputs:
**1 / [4,4]** - number/sizes of activation inputs:
**0 /** - number/sizes of outputs:
**3 / [1,1], [1,1], [1,1]** - number/sizes of activation outputs:
**0 /** - continuous-time state:
**no** - discrete-time state:
**no** - name of computational function:
**rt_tr2xyz_cf5**

<PATH>/macros/rt_tr2xyz_if.sci[view code]

<PATH>/macros/rt_tr2xyz_cf5.sci[view code]

Corke, P.I. "A Robotics Toolbox for MATLAB", *IEEE Robotics and Automation Magazine*, Volume 3(1), March 1996, pp. 24-32