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Transformation multiplication

    Description

    transformationC = transformationA*transformationB performs transformation multiplication between transformation transformationA and transformation transformationB and returns the product, transformation transformationC.

    You can use transformation multiplication to compose a sequence of transformations, so that transformationC represents a transformation where transformationB is applied first, followed by transformationA.

    Input Arguments

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    First transformation, specified as an se2, se3, so2, or so3 object, or as an M-element array of transformation objects. M is the total number of transformations.

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

    Either transformationA or transformationB must be a scalar transformation object of the same type. For example, if transformationA is an array of se2 objects, transformationB must be a scalar se2 object.

    Last transformation, specified as an se2, se3, so2, or so3 object, or as an M-element array of transformation objects. M is the total number of transformations.

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

    Either transformationA or transformationB must be a scalar transformation object of the same type. For example, if transformationA is an array of se2 objects, transformationB must be a scalar se2 object.

    Output Arguments

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    Transformation product, returned as an se2, se3, so2, or so3 object, or as an M-element array of the same transformation type as transformationA and transformationB. M is the length of the longer argument between transformationA and transformationB and each row represents the product between transformationA and transformationB.

    Version History

    Introduced in R2022b

    See Also

    Functions

    Objects