code: def cartesian_to_homogeneous(cartesian_matrix, matrix_type="numpy"):
      
      dimension_x, dimension_y = cartesian_matrix.shape
      # Square matrix
      # Manage different types fo input matrixes
      if matrix_type == "numpy":
          homogeneous_matrix = np.eye(dimension_x + 1)
      elif matrix_type == "sympy":
          homogeneous_matrix = sympy.eye(dimension_x + 1)
      # Add a column filled with 0 and finishing with 1 to the cartesian matrix to transform it into an homogeneous one
      homogeneous_matrix[:-1, :-1] = cartesian_matrix
  
      return homogeneous_matrix
docs: Converts a cartesian matrix to an homogenous matrix