5.3.4.107. Function motion_combine_tmat3x3
Defined in File motion_struct.h
5.3.4.107.1. Function Documentation
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void motion_combine_tmat3x3(const tmat3x3_t *tmat0, const tmat3x3_t *tmat1, tmat3x3_t *tmat0_1)
Compute the resulting transformation from two
tmat3x3_ttransformation matrices:\[ M_{3 \times 3}^{t_{-1} \rightarrow t} . M_{3 \times 3}^{t_{-2} \rightarrow t_{-1}} = M_{3 \times 3}^{t_{-2} \rightarrow t}. \]This implementation is optimized for rigid transformations only.
- Parameters
tmat0 – An allocated and initialized
tmat3x3_ttransformation matrix ( \(M_{3 \times 3}^{t_{-1} \rightarrow t}\)).tmat1 – An allocated and initialized
tmat3x3_ttransformation matrix ( \(M_{3 \times 3}^{t_{-2} \rightarrow t_{-1}}\)).tmat0_1 – An allocated
tmat3x3_ttransformation matrix that is filled with the resulting combined transformation ( \(M_{3 \times 3}^{t_{-2} \rightarrow t}\)).