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## Copyright (C) 2024 David Legland
## All rights reserved.
##
## Redistribution and use in source and binary forms, with or without
## modification, are permitted provided that the following conditions are met:
##
## 1 Redistributions of source code must retain the above copyright notice,
## this list of conditions and the following disclaimer.
## 2 Redistributions in binary form must reproduce the above copyright
## notice, this list of conditions and the following disclaimer in the
## documentation and/or other materials provided with the distribution.
##
## THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ''AS IS''
## AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
## IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
## ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR
## ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
## DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
## SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
## CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
## OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
## OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
##
## The views and conclusions contained in the software and documentation are
## those of the authors and should not be interpreted as representing official
## policies, either expressed or implied, of the copyright holders.
function trans = composeTransforms3d(varargin)
%COMPOSETRANSFORMS3D Concatenate several space transformations.
%
% TRANS = composeTransforms3d(TRANS1, TRANS2, ...);
% Computes the affine transform equivalent to performing successively
% TRANS1, TRANS2, ...
%
% Example:
% PTS = rand(20, 3);
% ROT1 = createRotationOx(pi/3);
% ROT2 = createRotationOy(pi/4);
% ROT3 = createRotationOz(pi/5);
% ROTS = composeTransforms3d(ROT1, ROT2, ROT3);
% Then:
% PTS2 = transformPoint3d(PTS, ROTS);
% will give the same result as:
% PTS3 = transformPoint3d(transformPoint3d(transformPoint3d(PTS, ...
% ROT1), ROT2), ROT3);
%
% See also
% transforms3d, transformPoint3d
% ------
% Author: David Legland
% E-mail: david.legland@inrae.fr
% Created: 2006-09-29
% Copyright 2006-2023 INRA - TPV URPOI - BIA IMASTE
trans = varargin{nargin};
for i=length(varargin)-1:-1:1
trans = trans * varargin{i};
end
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