hom_mat3d_translateT_hom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslate (Operator)

Name

hom_mat3d_translateT_hom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslate — Add a translation to a homogeneous 3D transformation matrix.

Signature

Description

hom_mat3d_translatehom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslate adds a translation by the vector t = (TxTxTxTxtx,TyTyTyTyty,TzTzTzTztz) to the homogeneous 3D transformation matrix HomMat3DHomMat3DHomMat3DHomMat3DhomMat3D and returns the resulting matrix in HomMat3DTranslateHomMat3DTranslateHomMat3DTranslateHomMat3DTranslatehomMat3DTranslate. The translation is performed relative to the global (i.e., fixed) coordinate system; this corresponds to the following chain of transformation matrices:

                        / 1 0 0    \                    / Tx \
  HomMat3DTranslate  =  | 0 1 0  t | * HomMat3D     t = | Ty |
                        | 0 0 1    |                    \ Tz /
                        \ 0 0 0  1 /

To perform the transformation in the local coordinate system, i.e., the one described by HomMat3DHomMat3DHomMat3DHomMat3DhomMat3D, use hom_mat3d_translate_localhom_mat3d_translate_localhom_mat3d_translate_localHomMat3dTranslateLocalHomMat3dTranslateLocal.

Attention

Note that homogeneous matrices are stored row-by-row as a tuple; the last row is not stored because it is identical for all homogeneous matrices that describe an affine transformation. For example, the homogeneous matrix

    / ra rb rc td \
    | re rf rg th |
    | ri rj rk tl |
    \ 0  0  0  1  /

is stored as the tuple [ra, rb, rc, td, re, rf, rg, th, ri, rj, rk, tl].

Parallelization

• Multithreading type: reentrant (runs in parallel with non-exclusive operators).
• Multithreading scope: global (may be called from any thread).
• Processed without parallelization.

Parameters

Result

If the parameters are valid, the operator hom_mat3d_translatehom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslate returns 2 (H_MSG_TRUE). If necessary, an exception is raised.

Possible Predecessors

hom_mat3d_identityhom_mat3d_identityhom_mat3d_identityHomMat3dIdentityHomMat3dIdentity, hom_mat3d_translatehom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslate, hom_mat3d_scalehom_mat3d_scalehom_mat3d_scaleHomMat3dScaleHomMat3dScale, hom_mat3d_rotatehom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotate

Possible Successors

hom_mat3d_translatehom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslate, hom_mat3d_scalehom_mat3d_scalehom_mat3d_scaleHomMat3dScaleHomMat3dScale, hom_mat3d_rotatehom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotate

See also

hom_mat3d_inverthom_mat3d_inverthom_mat3d_invertHomMat3dInvertHomMat3dInvert, hom_mat3d_identityhom_mat3d_identityhom_mat3d_identityHomMat3dIdentityHomMat3dIdentity, hom_mat3d_translate_localhom_mat3d_translate_localhom_mat3d_translate_localHomMat3dTranslateLocalHomMat3dTranslateLocal, pose_to_hom_mat3dpose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3d, hom_mat3d_to_posehom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPose, hom_mat3d_composehom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dCompose

Module

Foundation