code: def cartesian_to_homogeneous_vectors(cartesian_vector, matrix_type="numpy"):
      
      dimension_x = cartesian_vector.shape[0]
      # Vector
      if matrix_type == "numpy":
          homogeneous_vector = np.zeros(dimension_x + 1)
          # Last item is a 1
          homogeneous_vector[-1] = 1
          homogeneous_vector[:-1] = cartesian_vector
      return homogeneous_vector
docs: Converts a cartesian vector to an homogenous vector