MuPAD: Block Matrices

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I'm working with homogeneous coordinates, and like to do some symbolic calculations in muPad. Lets say my transformation matrix T is 4x4, where the upper left is a 3x3 Rotation matrix called R, the upper right is a 3x1 vector called b and the lower right element is 1.

So it would be something like:

T = [R b; 0 0 0 1] 

in normal Matlab notation.

Now, i want muPad to work with the symbols R and b, instead of expanding them and working with the elements.

So, if i define a second transformation T2 with

T2 = [R2 b2;0 0 0 1]

the product of T and T2 should be displayed as

[R*R2  R*b2+b; 0 0 0 1]

i'm new here, so please excuse the bad formatting..(is there a way to include latex?)

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