TtransT
by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - Spatial Relations
Introduced first in SolidGeometry 3.8, Creation date: 2017-04-18, Last change: 2025-09-14
returns a matrix multiplication of a (list of) homogenous transformation matrix
Description
Complete redesign at 2019-03-30 - Consider using SGtransrelT
ATTENTION: THE SECOND PARAMETER IS THE ORIGINAL FRAME LIST !!!
THE FIRST PARAMETER IS TO TRANSFORMATION MATRIX
For simple cases you can simply write T=T1*T2:
[ R1*R2, t1 + R1*t2]
[ 0, 1]
See Also: TofPose
, TofPLpath
, SGtransrelT
Example Illustration
Syntax
TN=TtransT(T1,T0,[tinv])
Input Parameter
T1: | | Transformation matrix to transform or matrix list |
T0: | | Original transformation matrix or matrix list |
tinv: | | if true; T0 will be interverted first |
Output Parameter
Examples
PS.A=PLcircle(10,36); PS.B=PS.A*2; T0=TofPose(PS), BBofT(T0)
TtransT(TofP([100 0]),T0)
TtransT(TofR(rot(pi/2)),T0)
Copyright 2017-2025 Tim C. Lueth. All rights reserved. The code is the property of Tim C. Lueth and may not be redistributed or modified without explicit written permission. This software may be used free of charge for academic research and teaching purposes only. Commercial use, redistribution, modification, or reverse engineering is strictly prohibited. Access to source code is restricted and granted only under specific agreements. For licensing inquiries or commercial use, please contact: Tim C. Lueth
Last html export of this page out of FM database by TL: 2025-09-21