transform

Apply rigid body transformation to points

Since R2023b

Syntax

tpoints = transform(transformation,points)

tpoints = transform(rotation,points)

tpoints = transform(___,isCol=format)

Description

tpoints = transform(transformation,points) applies the rigid body transformation transformation to the input points points, and returns the transformed points tpoints.

tpoints = transform(rotation,points) applies the rotation rotation to the input points points, and returns the transformed points tpoints.

tpoints = transform(___,isCol=format) sets the expected format of the input points points to be either column-wise or row-wise by using the logical flag format in addition to the input arguments from the previous syntax.

Input Arguments

transformation — Transformation

se2 object | se3 object | N-element array of transformation objects

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

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

rotation — Rotation

so2 object | so3 object | N-element array of rotation objects

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 rotation as an array, each element must be of the same type.

points — Points to transform

N-by-D-by-M array | D-by-N-by-M array

Points to transform, specified as an N-by-D-by-M array, where:

• D is the dimension of the transformation, defined as 2 for 2-D transformations and 3 for 3-D transformations.

• N is the total number of input points to transform.

• M is the total number of transforms to perform on each point.

For 2-D transformations and rotations, each row specifies a point in the form [X Y]. For 3-D transformations and rotations, each row specifies a point in the form [X Y Z].

If you specify format as true, then you must specify points as a D-by-N-by-M array, where each column specifies a point.

Data Types: single | double

format — Point format

false or 0 (default) | true or 1

Point format, specified as a logical 0 (false) or 1 (true). If you specify this argument as true, you must specify the points in points as columns. Otherwise, specify points as rows.

Example: isCol=true

Data Types: logical

Output Arguments

tpoints — Transformed points

N-by-D-by-M array | D-by-N-by-M array

Transformed points, returned as an N-by-D-by-M array, where:

• D is the dimension of the transformation, defined as 2 for 2-D transformations and rotations and 3 for 3-D transformations or rotations.

• N is the total number of input points to transform.

• M is the total number of transforms to perform on each point.

For 2-D transformations and rotations, each row specifies a point in the form [X Y]. For 3-D transformations and rotations, each row specifies a point in the form [X Y Z].

If you specify format as true, tpoints is returned as a D-by-N-by-M array, where each column specifies a point.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2023b