Operator Reference
hom_mat3d_rotate (Operator)
hom_mat3d_rotate — Add a rotation to a homogeneous 3D transformation matrix.
Signature
Description
hom_mat3d_rotate adds a rotation by the angle Phi around the
axis passed in the parameter Axis to the homogeneous 3D
transformation matrix HomMat3D and returns the resulting matrix in
HomMat3DRotate. The axis can be specified by passing the strings
'x', 'y', or 'z', or by passing a vector [x,y,z] as a tuple.
The rotation is described by a 3×3 rotation matrix R. It is performed relative to the global (i.e., fixed) coordinate system; this corresponds to the following chain of transformation matrices:
Axis = 'x':
Axis = 'y':
Axis = 'z':
Axis = [x,y,z]:
The point (Px,Py,Pz) is the fixed point of the
transformation, i.e., this point remains unchanged when transformed using
HomMat3DRotate. To obtain this behavior, first a translation is
added to the input transformation matrix that moves the fixed point onto the
origin of the global coordinate system. Then, the rotation is added, and
finally a translation that moves the fixed point back to its original
position. This corresponds to the following chain of transformations:
To perform the transformation in the local coordinate system, i.e.,
the one described by HomMat3D, use
hom_mat3d_rotate_local.
Attention
Note that homogeneous matrices are stored row-by-row as a tuple; the last row is usually not stored because it is identical for all homogeneous matrices that describe an affine transformation. For example, the homogeneous matrix is stored as the tuple [ra, rb, rc, td, re, rf, rg, th, ri, rj, rk, tl]. However, it is also possible to process full 4×4 matrices, which represent a projective 4D transformation.
Execution Information
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
Parameters
HomMat3D (input_control) hom_mat3d → (real)
Input transformation matrix.
Phi (input_control) angle.rad → (real / integer)
Rotation angle.
Default: 0.78
Suggested values: 0.1, 0.2, 0.3, 0.4, 0.78, 1.57, 3.14
Value range:
0
≤
Phi
≤
6.28318530718
Axis (input_control) string(-array) → (string / real / integer)
Axis, to be rotated around.
Default: 'x'
Suggested values: 'x', 'y', 'z'
Px (input_control) point3d.x → (real / integer)
Fixed point of the transformation (x coordinate).
Default: 0
Suggested values: 0, 16, 32, 64, 128, 256, 512, 1024
Py (input_control) point3d.y → (real / integer)
Fixed point of the transformation (y coordinate).
Default: 0
Suggested values: 0, 16, 32, 64, 128, 256, 512, 1024
Pz (input_control) point3d.z → (real / integer)
Fixed point of the transformation (z coordinate).
Default: 0
Suggested values: 0, 16, 32, 64, 128, 256, 512, 1024
HomMat3DRotate (output_control) hom_mat3d → (real)
Output transformation matrix.
Result
If the parameters are valid, the operator hom_mat3d_rotate returns
2 (
H_MSG_TRUE)
. If necessary, an exception is raised.
Possible Predecessors
hom_mat3d_identity,
hom_mat3d_translate,
hom_mat3d_scale,
hom_mat3d_rotate
Possible Successors
hom_mat3d_translate,
hom_mat3d_scale,
hom_mat3d_rotate
See also
hom_mat3d_invert,
hom_mat3d_identity,
hom_mat3d_rotate_local,
pose_to_hom_mat3d,
hom_mat3d_to_pose,
hom_mat3d_compose
Module
Foundation