pose_composeT_pose_composePoseComposePoseComposepose_compose (算子)

名称

pose_composeT_pose_composePoseComposePoseComposepose_compose — 将两个元组中给出的三维姿态合并在一起。

签名

描述

pose_composepose_composePoseComposePoseComposePoseComposepose_compose combines the poses in the tuples, PoseLeftPoseLeftPoseLeftPoseLeftposeLeftpose_left and PoseRightPoseRightPoseRightPoseRightposeRightpose_right. If both tuples contain the same number of poses, the corresponding elements of both tuples are composed. Otherwise, either tuple PoseLeftPoseLeftPoseLeftPoseLeftposeLeftpose_left or PoseRightPoseRightPoseRightPoseRightposeRightpose_right must contain only one pose. In this case, the composition is performed for each pose of the longer tuple with the single pose of the other tuple. For each composition, the poses are interpreted as transformations of coordinate systems. The poses in tuple PoseComposePoseComposePoseComposePoseComposeposeComposepose_compose are therefore the result of applying the corresponding poses in PoseLeftPoseLeftPoseLeftPoseLeftposeLeftpose_left and PoseRightPoseRightPoseRightPoseRightposeRightpose_right in sequence.

First, the respective poses in PoseLeftPoseLeftPoseLeftPoseLeftposeLeftpose_left and PoseRightPoseRightPoseRightPoseRightposeRightpose_right are transformed into the corresponding homogeneous transformation matrices H1 and H2. H1 is then multiplied with H2. The resulting matrix H1* H2 is converted into a pose and returned at the corresponding index in tuple PoseComposePoseComposePoseComposePoseComposeposeComposepose_compose。

If the respective poses in PoseLeftPoseLeftPoseLeftPoseLeftposeLeftpose_left and PoseRightPoseRightPoseRightPoseRightposeRightpose_right have different types, the default pose type 0 ('Rp+T', 'gba', 'point') is returned. Otherwise, the returned poses have the same types as the poses used for their composition.

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

pose_composepose_composePoseComposePoseComposePoseComposepose_compose returns 2 ( H_MSG_TRUE) if all parameters are valid。如有必要，则抛出异常。

可能的前趋

read_poseread_poseReadPoseReadPoseReadPoseread_pose, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPoseHomMat3dToPosehom_mat3d_to_pose, create_posecreate_poseCreatePoseCreatePoseCreatePosecreate_pose, convert_pose_typeconvert_pose_typeConvertPoseTypeConvertPoseTypeConvertPoseTypeconvert_pose_type, pose_invertpose_invertPoseInvertPoseInvertPoseInvertpose_invert

可能的后继

convert_pose_typeconvert_pose_typeConvertPoseTypeConvertPoseTypeConvertPoseTypeconvert_pose_type

替代

hom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dComposeHomMat3dComposehom_mat3d_compose, dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposeDualQuatComposedual_quat_compose

另见

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