I am having trouble using the se3 transformation matrix function in MATLAB

Hello everyone, I was having issues using se3 example code in the documentation. The official documentation says this should work.

angles = [pi/2 0 pi/7];
trvec = [6 4 1];
TF = se3(angles,"eul","XYZ",trvec)

TF = se3
    0.9010   -0.4339         0    6.0000
    0.0000    0.0000   -1.0000    4.0000
    0.4339    0.9010    0.0000    1.0000
         0         0         0    1.0000

After I run it, I get an error saying:

Error using matlabshared.spatialmath.internal.SE3Base

Invalid number of arguments. To create an se3, specify 2 or fewer arguments.

Error in se3 (line 70)

[e-mail]3Base(varargin{:});

Error in testforspectrum (line 4)

TF = se3(angles,"eul","XYZ",trvec)

Anybody have any suggestions?

Thank you

Answer 1

[Cris LaPierre]

What version of MATLAB are you using? I edited your post so the code could be run here, and it works without error.

Note that se3 requires one of the following toolboxes to be installed:

• Navigation Toolbox
• Robotics System Toolbox
• UAV Toolbox

If you have access to these toolboxes on your license, you can add them using the Add-Ons explorer

[Uchechukwu Ilodibe]

Hello Cris,

Thanks for the response. I am currently using MATLAB R2022b- academic use and I have all the toolboxes installed but still can't run it

[Cris LaPierre]

Some changes to the methods and syntaxes were introduced in R2023a (see here)

In R2022b, you must use one of the following syntaxes:

• transformation = se3
• transformation = se3(rotation)
• transformation = se3(rotation,translation)
• transformation = se3(transformation)