warp.transform\_to\_matrix
==========================

.. function:: warp._src.lang.transform_to_matrix(xform: Transformation[float32]) -> Matrix[float32,Literal[4],Literal[4]]

   .. hlist::
      :columns: 8

      * Kernel
      * Differentiable

   Convert a transformation to a 4x4 matrix.
   
   .. math::
       M = \begin{bmatrix}
       R_{00} & R_{01} & R_{02} & p_x \\
       R_{10} & R_{11} & R_{12} & p_y \\
       R_{20} & R_{21} & R_{22} & p_z \\
       0 & 0 & 0 & 1
       \end{bmatrix}
   
   Where:
   
   * :math:`R` is the 3x3 rotation matrix created from the orientation quaternion of the input transform.
   * :math:`p` is the 3D position vector :math:`[p_x, p_y, p_z]` of the input transform.
   
   :param xform: Transformation to convert.
   :type xform: Transformation[Float]
   
   :returns: The matrix.
   :rtype: Matrix[Float, 4, 4]