# spatialmath.base.transformsNd

This modules contains functions to create and transform rotation matrices and homogeneous tranformation matrices.

Vector arguments are what numpy refers to as `array_like` and can be a list, tuple, numpy array, numpy row vector or numpy column vector.

Versions:

> 1. Luis Fernando Lara Tobar and Peter Corke, 2008

> 2. Josh Carrigg Hodson, Aditya Dua, Chee Ho Chan, 2017

> 3. Peter Corke, 2020

Functions