times, .*

Element-wise transformation or rotation multiplication

Since R2022b

Syntax

transformationC = transformationA.*transformationB

rotationC = rotationA.*rotationB

Description

transformationC = transformationA.*transformationB multiplies transformations element-by-element by multiplying each element of transformation transformationA with the corresponding element of transformation transformationB and returns the product, transformation transformationC.

rotationC = rotationA.*rotationB multiplies rotations element-by-element by multiplying each element of rotation rotationA with the corresponding element of rotation rotationB and returns the product, rotation rotationC.

Input Arguments

transformationA — First transformation

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

First transformation, specified as a scalar se2 object, a scalar se3 object, or as an N-element array of transformation objects. N 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.

transformationB — Last transformation

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

Last transformation, specified as a scalar se2 object, a scalar se3 object, or as an N-element array of transformation objects. N 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.

rotationA — First rotation

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

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

Either rotationA or rotationB must be a scalar rotation object of the same type. For example, if rotationA is an array of so2 objects, rotationB must be a scalar so2 object.

rotationB — Last rotation

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

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

Either rotationA or rotationB must be a scalar rotation object of the same type. For example, if rotationA is an array of se2 objects, rotationB must be a scalar se2 object.

Output Arguments

transformationC — Transformation product

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

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

rotationC — Rotation product

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

Rotation product, returned as a scalar so2 object, a scalar so3 object, or as an N-element array of the same rotation type as rotationA and rotationB. N is the length of the longer argument between rotationA and rotationB and each row represents the product between rotationA and rotationB.

Version History

Introduced in R2022b