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hom_mat3d_rotateT_hom_mat3d_rotateHomMat3dRotateHomMat3dRotate (Operator)


hom_mat3d_rotateT_hom_mat3d_rotateHomMat3dRotateHomMat3dRotate — Add a rotation to a homogeneous 3D transformation matrix.


hom_mat3d_rotate( : : HomMat3D, Phi, Axis, Px, Py, Pz : HomMat3DRotate)

Herror T_hom_mat3d_rotate(const Htuple HomMat3D, const Htuple Phi, const Htuple Axis, const Htuple Px, const Htuple Py, const Htuple Pz, Htuple* HomMat3DRotate)

void HomMat3dRotate(const HTuple& HomMat3D, const HTuple& Phi, const HTuple& Axis, const HTuple& Px, const HTuple& Py, const HTuple& Pz, HTuple* HomMat3DRotate)

HHomMat3D HHomMat3D::HomMat3dRotate(const HTuple& Phi, const HTuple& Axis, const HTuple& Px, const HTuple& Py, const HTuple& Pz) const

HHomMat3D HHomMat3D::HomMat3dRotate(double Phi, const HString& Axis, double Px, double Py, double Pz) const

HHomMat3D HHomMat3D::HomMat3dRotate(double Phi, const char* Axis, double Px, double Py, double Pz) const

static void HOperatorSet.HomMat3dRotate(HTuple homMat3D, HTuple phi, HTuple axis, HTuple px, HTuple py, HTuple pz, out HTuple homMat3DRotate)

HHomMat3D HHomMat3D.HomMat3dRotate(HTuple phi, HTuple axis, HTuple px, HTuple py, HTuple pz)

HHomMat3D HHomMat3D.HomMat3dRotate(double phi, string axis, double px, double py, double pz)


hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotateHomMat3dRotate adds a rotation by the angle PhiPhiPhiPhiphi around the axis passed in the parameter AxisAxisAxisAxisaxis to the homogeneous 3D transformation matrix HomMat3DHomMat3DHomMat3DHomMat3DhomMat3D and returns the resulting matrix in HomMat3DRotateHomMat3DRotateHomMat3DRotateHomMat3DRotatehomMat3DRotate. 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:

AxisAxisAxisAxisaxis = 'x'"x""x""x""x":

AxisAxisAxisAxisaxis = 'y'"y""y""y""y":

AxisAxisAxisAxisaxis = 'z'"z""z""z""z":

AxisAxisAxisAxisaxis = [x,y,z]:

The point (PxPxPxPxpx,PyPyPyPypy,PzPzPzPzpz) is the fixed point of the transformation, i.e., this point remains unchanged when transformed using HomMat3DRotateHomMat3DRotateHomMat3DRotateHomMat3DRotatehomMat3DRotate. 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 HomMat3DHomMat3DHomMat3DHomMat3DhomMat3D, use hom_mat3d_rotate_localhom_mat3d_rotate_localHomMat3dRotateLocalHomMat3dRotateLocalHomMat3dRotateLocal.


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


HomMat3DHomMat3DHomMat3DHomMat3DhomMat3D (input_control)  hom_mat3d HHomMat3D, HTupleHTupleHtuple (real) (double) (double) (double)

Input transformation matrix.

PhiPhiPhiPhiphi (input_control)  angle.rad HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Rotation angle.

Default value: 0.78

Suggested values: 0.1, 0.2, 0.3, 0.4, 0.78, 1.57, 3.14

Typical range of values: 0 ≤ Phi Phi Phi Phi phi ≤ 6.28318530718

AxisAxisAxisAxisaxis (input_control)  string(-array) HTupleHTupleHtuple (string / real / integer) (string / double / int / long) (HString / double / Hlong) (char* / double / Hlong)

Axis, to be rotated around.

Default value: 'x' "x" "x" "x" "x"

Suggested values: 'x'"x""x""x""x", 'y'"y""y""y""y", 'z'"z""z""z""z"

PxPxPxPxpx (input_control)  point3d.x HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Fixed point of the transformation (x coordinate).

Default value: 0

Suggested values: 0, 16, 32, 64, 128, 256, 512, 1024

PyPyPyPypy (input_control)  point3d.y HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Fixed point of the transformation (y coordinate).

Default value: 0

Suggested values: 0, 16, 32, 64, 128, 256, 512, 1024

PzPzPzPzpz (input_control)  point3d.z HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Fixed point of the transformation (z coordinate).

Default value: 0

Suggested values: 0, 16, 32, 64, 128, 256, 512, 1024

HomMat3DRotateHomMat3DRotateHomMat3DRotateHomMat3DRotatehomMat3DRotate (output_control)  hom_mat3d HHomMat3D, HTupleHTupleHtuple (real) (double) (double) (double)

Output transformation matrix.


If the parameters are valid, the operator hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotateHomMat3dRotate returns 2 (H_MSG_TRUE). If necessary, an exception is raised.

Possible Predecessors

hom_mat3d_identityhom_mat3d_identityHomMat3dIdentityHomMat3dIdentityHomMat3dIdentity, hom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslateHomMat3dTranslate, hom_mat3d_scalehom_mat3d_scaleHomMat3dScaleHomMat3dScaleHomMat3dScale, hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotateHomMat3dRotate

Possible Successors

hom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslateHomMat3dTranslate, hom_mat3d_scalehom_mat3d_scaleHomMat3dScaleHomMat3dScaleHomMat3dScale, hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotateHomMat3dRotate

See also

hom_mat3d_inverthom_mat3d_invertHomMat3dInvertHomMat3dInvertHomMat3dInvert, hom_mat3d_identityhom_mat3d_identityHomMat3dIdentityHomMat3dIdentityHomMat3dIdentity, hom_mat3d_rotate_localhom_mat3d_rotate_localHomMat3dRotateLocalHomMat3dRotateLocalHomMat3dRotateLocal, pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dPoseToHomMat3d, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPoseHomMat3dToPose, hom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dComposeHomMat3dCompose



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