jaxtransform3d.rotations.apply_matrix

jaxtransform3d.rotations.apply_matrix(R: Array | ndarray | bool_ | number | bool | int | float | complex, v: Array | ndarray | bool_ | number | bool | int | float | complex) → Array

Apply rotation matrix to vector.

Computes the matrix-vector product

\[\boldsymbol{w} = \boldsymbol{R} \boldsymbol{v}.\]

Parameters:

Rarray-like, shape (…, 3, 3) or (3, 3)

Rotation matrix.

varray-like, shape (…, 3) or (3,)

3d vector.

Returns:

warray, shape (…, 3) or (3,)

3d vector.

See also

apply_quaternion

Apply rotation represented by a unit quaternion.

Examples

>>> import jax.numpy as jnp
>>> from jaxtransform3d.rotations import (
...    apply_matrix, matrix_from_compact_axis_angle)
>>> a = jnp.array([[0.5 * jnp.pi, 0.0, 0.0],
...                [0.0, 0.5 * jnp.pi, 0.0]])
>>> R = matrix_from_compact_axis_angle(a)
>>> v = jnp.array([[0.5, 1.0, 2.5], [1, 2, 3]])
>>> apply_matrix(R[0], v[0]).round(7)
Array([ 0.5, -2.5,  1. ], ...)
>>> apply_matrix(R, v)
Array([[ 0.5, -2.5,  1. ],
       [ 3. ,  2. , -1. ]], dtype=float32)