hom_mat3d_compose — Multiply two homogeneous 3D transformation matrices.
hom_mat3d_compose composes a new 3D transformation matrix by multiplying the two input matrices:
For example, if the two input matrices correspond to rigid transformations, i.e., to transformations consisting of a rotation and a translation, the resulting matrix is calculated as follows:
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
Left input transformation matrix.
Right input transformation matrix.
Output transformation matrix.
If the parameters are valid, the operator hom_mat3d_compose returns 2 (H_MSG_TRUE). If necessary, an exception is raised.
hom_mat3d_compose, hom_mat3d_translate, hom_mat3d_translate_local, hom_mat3d_scale, hom_mat3d_scale_local, hom_mat3d_rotate, hom_mat3d_rotate_local, pose_to_hom_mat3d
hom_mat3d_compose, hom_mat3d_translate, hom_mat3d_translate_local, hom_mat3d_scale, hom_mat3d_scale_local, hom_mat3d_rotate, hom_mat3d_rotate_local
affine_trans_point_3d, hom_mat3d_identity, hom_mat3d_rotate, hom_mat3d_translate, pose_to_hom_mat3d, hom_mat3d_to_pose