s</a></td><td width="300">set x-axis scaling</td></tr>
<tr><td width="150"><a href="html/xyzlabel.html">xyzlabel</a></td><td width="300">label axes x, y and z</td></tr>
<tr><td width="150"><a href="html/yaxis.html">yaxis</a></td><td width="300">set y-axis scaling</td></tr>
</table></p>
<p><ul>
<li>HT = homogeneous transformation, a 4x4 matrix, belongs to the group SE(3).</li>
<li>RM = RM, an orthonormal 3x3 matrix, belongs to the group SO(3).</li>
<li>Functions of the form <b>tr2XX</b> will also accept a RM