mtimes, *

Transformation or rotation multiplication

Since R2023b

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    Syntax

    transformationC = transformationA*transformationB
    rotationC = rotationA*rotationB

    Description

    transformationC = transformationA*transformationB performs transformation multiplication between transformation transformationA and transformation transformationB and returns the product, transformation transformationC.

    You can use transformation multiplication to compose a sequence of transformations, so that transformationC represents a transformation where transformationB is applied first, followed by transformationA.

    rotationC = rotationA*rotationB performs rotation multiplication between rotation rotationA and rotation rotationB and returns the product, rotation rotationC.

    You can use rotation multiplication to compose a sequence of rotations, so that rotationC represents a rotation where rotationB is applied first, followed by rotationA.

    Input Arguments

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    First transformation, specified as a scalar se2 object, a scalar se3 object, or as an N-element array of transformation objects. N is the total number of transformations.

    If you specify transformationA as an array, each element must be of the same type.

    Either transformationA or transformationB must be a scalar transformation object of the same type. For example, if transformationA is an array of se2 objects, transformationB must be a scalar se2 object.

    Last transformation, specified as a scalar se2 object, a scalar se3 object, or as an N-element array of transformation objects. N is the total number of transformations.

    If you specify transformationB as an array, each element must be of the same type.

    Either transformationA or transformationB must be a scalar transformation object of the same type. For example, if transformationA is an array of se2 objects, transformationB must be a scalar se2 object.

    First rotation, specified as a scalar so2 object, a scalar so3 object, or as an N-element array of rotation objects. N is the total number of rotations.

    If you specify rotationA as an array, each element must be of the same type.

    Either rotationA or rotationB must be a scalar rotation object of the same type. For example, if rotationA is an array of so2 objects, rotationB must be a scalar so2 object.

    Last rotation, specified as a scalar so2 object, a scalar so3 object, or as an N-element array of rotation objects. N is the total number of rotations.

    If you specify rotationB as an array, each element must be of the same type.

    Either rotationA or rotationB must be a scalar rotation object of the same type. For example, if rotationA is an array of se2 objects, rotationB must be a scalar se2 object.

    Output Arguments

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    Transformation product, returned as a scalar se2 object, a scalar se3 object, or as an N-element array of the same transformation type as transformationA and transformationB. N is the length of the longer argument between transformationA and transformationB and each row represents the product between transformationA and transformationB.

    Rotation product, returned as a scalar so2 object, a scalar so3 object, or as an N-element array of the same rotation type as rotationA and rotationB. N is the length of the longer argument between rotationA and rotationB and each row represents the product between rotationA and rotationB.

    Version History

    Introduced in R2023b

    See Also

    Functions

    Objects