hom_mat3d_rotate_local — Add a rotation to a homogeneous 3D transformation matrix.
hom_mat3d_rotate_local adds a rotation by the angle
around the axis passed in the parameter
Axis to the homogeneous 3D
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. In contrast to
is performed relative to the local coordinate system, i.e., the coordinate
system described by
HomMat3D; this corresponds to the following
chain of transformation matrices:
Axis = 'x':
Axis = 'y':
Axis = 'z':
Axis = [x,y,z]:
The fixed point of the transformation is the origin of the local
coordinate system, i.e., this point remains unchanged when
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.
Input transformation matrix.
→(real / integer)
Default value: 0.78
Suggested values: 0.1, 0.2, 0.3, 0.4, 0.78, 1.57, 3.14
Typical range of values:
→(string / real / integer)
Axis, to be rotated around.
Default value: 'x'
Suggested values: 'x', 'y', 'z'
Output transformation matrix.
If the parameters are valid, the operator
2 (H_MSG_TRUE). If necessary, an exception is raised.