How to decompose efficiently a motor into 4x4-matrix

it is not is not a big deal to figure out how to decompose a motor into a 4x4-matrix efficiently but I think I should not spend my time in figuring int out on my own again. Can somebody help me where to find an efficient implementation? A hint to a paper is also very welcome.

Thanks and best regards

Hi Oliver,

This should cover it:

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very thanks for your help, it works like a charm, but its the decomposition for a rotor and not for a motor. Do you have available the equivalent for a cga motor? But of course it should be easy to create the formula by multiplication of the rotation matrix by a translation matrix on my own.

best regards

Oh, I think I got it its trivial to create the matrix for the motor with the the rotation matrix:-)