Syntax

C = multiplyH(A,B);

Description

Returns the multiplication of two homogenous matrices [4,4] or multiplies one homogenous matrix [4,4] with one homogeneous position vector [4,1] .

Examples

parameters

 real D[4,4] = [1,0,0,1;

                 0,1,0,0;

                 0,0,1,0;

                 0,0,0,1];

 real E[4,4] = [1,0,0,2;

                 0,1,0,3;

                 0,0,1,0;

                 0,0,0,1];

 real F[4,1] = [1,1,1,1];

variables

 real G[4,4];

 real H[4,1];

equations

 G = multiplyH(D,E);

 H = multiplyH(D,F);

Limitations

When A and B are homogeneous matrices [4,4] then C must be a homogenous matrix [4,4]. When A is a homogenous matrix [4,4] and B is a homogenous position vector [4,1] then C must also be a position vector [4,1].