transformPoint

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

Transform 3-D column vectors

Since R2022a

Syntax

xp = transformPoint(T,p)

Description

xp = transformPoint(T,p) transforms a set of 3-D column vectors that represent points. Only the translational part of the provided transformation affects the points specified in the p argument because points do not have orientations.

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.

Input Arguments

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`T` — Transformation
`simscape.multibody.Transformation` object

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

`p` — Coordinates of points
`simscape.Value` 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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`xp` — Coordinates of transformed points
`simscape.Value` object

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

Access public

To learn about attributes of methods, see Method Attributes.

Version History

Introduced in R2022a