hom_mat3d_rotateT_hom_mat3d_rotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate (算子)

名称

hom_mat3d_rotateT_hom_mat3d_rotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate — 向齐次三维变换矩阵添加旋转。

签名

描述

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。

注意

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.

执行信息

• 多线程类型：可重入（与非独占算子并行运行）。
• 多线程作用域：全局（可从任何线程调用）。
• 未采用并行化处理。

参数

结果

如果参数有效，算子 hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate 返回 2 ( H_MSG_TRUE )。如有必要，则抛出异常。

可能的前趋

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

可能的后继

hom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslateHomMat3dTranslatehom_mat3d_translate, hom_mat3d_scalehom_mat3d_scaleHomMat3dScaleHomMat3dScaleHomMat3dScalehom_mat3d_scale, hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate

另见

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

模块

基础

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