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Specifications and Common Mistakes

- Specifications and Common Mistakes:

- Misspellings or punctuation mistakes,incorrect formulas, abnormal display.

- Incorrect links, empty cells, or wrong formats.

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- Minor inconsistencies between the UI and descriptions.

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- Risk Warnings:

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mindsponge.common.rigids_mul_rigids

mindsponge.common.rigids_mul_rigids(a, b)

Change rigid $b$ from its local coordinate system to rigid $a$ local coordinate system, using rigid rotations and translations.

Use the rotations calculated by multiplying rotations of rigid $b$ and rigid $a$ as new rotations of rigid $b$ .

Multiply the translations of rigid $b$ with rotations of rigid $a$ , then add translations of rigid $a$ . The translations got is new translations of rigid $b$.

$$\begin{array}{r}\begin{array}{rl}& r=a_r{b}_r\\ & t=a_r{b}_t+a_t\end{array}\end{array}$$

Parameters

• a (tuple) – rigid $a$ . Length is 2. Include rots $(xx,xy,xz,yx,yy,yz,zx,zy,zz)$ and trans $(x,y,z)$ . Data type is constant or Tensor with same shape.

• b (tuple) – rigid $b$ . Length is 2. Include rots $(xx,xy,xz,yx,yy,yz,zx,zy,zz)$ and trans $(x,y,z)$ . Data type is constant or Tensor with same shape.

Returns

tuple(rots, trans), rigid $b$ changed. Length is 2. Include rots $(xx,xy,xz,yx,yy,yz,zx,zy,zz)$ and trans $(x,y,z)$ . Data type is constant or Tensor with same shape.

Supported Platforms:

Ascend GPU

Examples

>>> import mindsponge
>>> a = ((1, 2, 3, 4, 5, 6, 7, 8, 9), (3, 4, 5))
>>> b = ((2, 3, 4, 1, 5, 6, 3, 8, 7), (1, 2, 3))
>>> b1 = mindsponge.common.rigids_mul_rigids(a,b)
>>> print(b1)
((13, 37, 37, 31, 85, 88, 49, 133, 139), (17, 36, 55))