transformPoint

R2026b

Class: simscape.multibody.Transformation
Namespace: simscape.multibody

Transform 3-D column vectors

Since R2022a

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Syntax

xp = transformPoint(t,p)

Description

xp = transformPoint(t,p) applies a transformation to a set of 3-D column vectors that represent point positions. The method applies both the rotational and translational parts of the transformation to compute the new point positions.

If the t argument is a transformation from the follower frame to base frame and the ith column of the p argument represents the position vector of a point resolved in the follower frame, the ith column of the xp argument represents the same point resolved in the base frame.

example

Input Arguments

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Transformation, specified as a simscape.multibody.Transformation object.

Coordinates of the points, specified as a simscape.Value object that represents one or more 3-D column vectors with units of length.

Output Arguments

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Coordinates of the transformed points, returned as a simscape.Value object that represents one or more 3-D column vectors with units of length. The returned vectors and the vectors specified for the p argument have the same size and units.

Attributes

Accesspublic

To learn about attributes of methods, see Method Attributes.

Examples

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This example shows how to use transformPoint to apply both rotation and translation to a point.

Create a transformation that rotates 90 degrees about the z-axis and translates 5 meters along the x-axis.

t = simscape.multibody.Transformation([0.7071 0 0 0.7071], simscape.Value([5; 0; 0],"m"))

t =
  Transformation:

       Rotation: [0.7071 0 0 0.7071]
    Translation: [5 0 0] (m)

Transform a point at [1; 0; 0] meters. The method first rotates the point 90 degrees about the z-axis to [0; 1; 0], then translates the result by [5; 0; 0] meters.

xp = transformPoint(t, simscape.Value([1; 0; 0],"m"))

xp =
    5.0000
    1.0000
         0

    (m)

Compare with transformDirection, which applies only the rotation and ignores the translation. This is because directions represent orientations, not positions in space.

xv = transformDirection(t, [1; 0; 0])

xv = 3×1 double
    0.0000
    1.0000
         0

Version History

Introduced in R2022a

See Also

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