main/src/georegression/transform/twist/TwistOps_F64.java
public static DMatrixRMaj homogenous( TwistCoordinate_F64 twist , DMatrixRMaj H ) {
		if( H == null ) {
			H = new DMatrixRMaj(4,4);
		} else {
			H.reshape(4,4);
			H.data[12] = 0; H.data[13] = 0; H.data[14] = 0; H.data[15] = 0;
		}

		H.data[0] =  0;         H.data[1] = -twist.w.z; H.data[2]  =  twist.w.y; H.data[3]  = twist.v.x;
		H.data[4] =  twist.w.z; H.data[5] = 0;          H.data[6]  = -twist.w.x; H.data[7]  = twist.v.y;
		H.data[8] = -twist.w.y; H.data[9] =  twist.w.x; H.data[10] =  0;         H.data[11] = twist.v.z;

		return H;
	}
public static DMatrixRMaj homogenous( TwistCoordinate_F64 twist , DMatrixRMaj H ) {
		if( H == null ) {
			H = new DMatrixRMaj(4,4);
		} else {
			H.reshape(4,4);
			H.data[12] = 0; H.data[13] = 0; H.data[14] = 0; H.data[15] = 0;
		}

		H.data[0] =  0;         H.data[1] = -twist.w.z; H.data[2]  =  twist.w.y; H.data[3]  = twist.v.x;
		H.data[4] =  twist.w.z; H.data[5] = 0;          H.data[6]  = -twist.w.x; H.data[7]  = twist.v.y;
		H.data[8] = -twist.w.y; H.data[9] =  twist.w.x; H.data[10] =  0;         H.data[11] = twist.v.z;

		return H;
	}
Converts the twist coordinate into homogenous format.<br>
H = [hat(w), v; 0 , 0]

@param twist Twist coordinate
@param H (Optional) Storage for homogenous 4x4 matrix.  If null a new matrix is declared.
@return Homogenous matrix