%TR2ROT Return rotational submatrix of a homogeneous transformation%%	R = TR2ROT(T)%% Return R the 3x3 orthonormal rotation matrix from the homogeneous % transformation T.%% SEE ALSO: ROT2TR% $Log: tr2rot.m,v $% Revision 1.2  2002/04/01 11:47:19  pic% General cleanup of code: help comments, see also, copyright, remnant dh/dyn% references, clarification of functions.%% $Revision: 1.2 $% Copyright (C) 1999-2002, by Peter I. Corkefunction R = tr2rot(T)	if ~ishomog(T)		error('input must be a homogeneous transform');	end	R = T(1:3,1:3);