hom_mat3d_rotateT_hom_mat3d_rotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate (Operator)


hom_mat3d_rotateT_hom_mat3d_rotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate — 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

HHomMat3D HHomMat3D::HomMat3dRotate(double Phi, const wchar_t* Axis, double Px, double Py, double Pz) const   (Windows only)

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)

def hom_mat3d_rotate(hom_mat_3d: Sequence[float], phi: Union[float, int], axis: MaybeSequence[Union[str, float, int]], px: Union[float, int], py: Union[float, int], pz: Union[float, int]) -> Sequence[float]


hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate adds a rotation by the angle PhiPhiPhiPhiphiphi around the axis passed in the parameter AxisAxisAxisAxisaxisaxis to the homogeneous 3D transformation matrix HomMat3DHomMat3DHomMat3DHomMat3DhomMat3Dhom_mat_3d and returns the resulting matrix in HomMat3DRotateHomMat3DRotateHomMat3DRotateHomMat3DRotatehomMat3DRotatehom_mat_3drotate. 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:

AxisAxisAxisAxisaxisaxis = 'x'"x""x""x""x""x":

AxisAxisAxisAxisaxisaxis = 'y'"y""y""y""y""y":

AxisAxisAxisAxisaxisaxis = 'z'"z""z""z""z""z":

AxisAxisAxisAxisaxisaxis = [x,y,z]:

The point (PxPxPxPxpxpx,PyPyPyPypypy,PzPzPzPzpzpz) is the fixed point of the transformation, i.e., this point remains unchanged when transformed using HomMat3DRotateHomMat3DRotateHomMat3DRotateHomMat3DRotatehomMat3DRotatehom_mat_3drotate. 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 HomMat3DHomMat3DHomMat3DHomMat3DhomMat3Dhom_mat_3d, use hom_mat3d_rotate_localhom_mat3d_rotate_localHomMat3dRotateLocalHomMat3dRotateLocalHomMat3dRotateLocalhom_mat3d_rotate_local.


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


HomMat3DHomMat3DHomMat3DHomMat3DhomMat3Dhom_mat_3d (input_control)  hom_mat3d HHomMat3D, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Input transformation matrix.

PhiPhiPhiPhiphiphi (input_control)  angle.rad HTupleUnion[float, int]HTupleHtuple (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 phi ≤ 6.28318530718

AxisAxisAxisAxisaxisaxis (input_control)  string(-array) HTupleMaybeSequence[Union[str, float, int]]HTupleHtuple (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" "x"

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

PxPxPxPxpxpx (input_control)  point3d.x HTupleUnion[float, int]HTupleHtuple (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

PyPyPyPypypy (input_control)  point3d.y HTupleUnion[float, int]HTupleHtuple (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

PzPzPzPzpzpz (input_control)  point3d.z HTupleUnion[float, int]HTupleHtuple (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

HomMat3DRotateHomMat3DRotateHomMat3DRotateHomMat3DRotatehomMat3DRotatehom_mat_3drotate (output_control)  hom_mat3d HHomMat3D, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Output transformation matrix.


If the parameters are valid, the operator hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate returns TRUE. If necessary, an exception is raised.

Possible Predecessors

hom_mat3d_identityhom_mat3d_identityHomMat3dIdentityHomMat3dIdentityHomMat3dIdentityhom_mat3d_identity, hom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslateHomMat3dTranslatehom_mat3d_translate, hom_mat3d_scalehom_mat3d_scaleHomMat3dScaleHomMat3dScaleHomMat3dScalehom_mat3d_scale, hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate

Possible Successors

hom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslateHomMat3dTranslatehom_mat3d_translate, hom_mat3d_scalehom_mat3d_scaleHomMat3dScaleHomMat3dScaleHomMat3dScalehom_mat3d_scale, hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate

See also

hom_mat3d_inverthom_mat3d_invertHomMat3dInvertHomMat3dInvertHomMat3dInverthom_mat3d_invert, hom_mat3d_identityhom_mat3d_identityHomMat3dIdentityHomMat3dIdentityHomMat3dIdentityhom_mat3d_identity, hom_mat3d_rotate_localhom_mat3d_rotate_localHomMat3dRotateLocalHomMat3dRotateLocalHomMat3dRotateLocalhom_mat3d_rotate_local, pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dPoseToHomMat3dpose_to_hom_mat3d, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPoseHomMat3dToPosehom_mat3d_to_pose, hom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dComposeHomMat3dComposehom_mat3d_compose