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Specifications and Common Mistakes

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mindsponge.common.rigids_mul_vecs

mindsponge.common.rigids_mul_vecs(rigids, v)

Transform vector $v$ to rigid’ local coordinate system.

Multiply vector $v$ and the rotations of rigid together and add the translations of rigid. The result is the output vector.

$$v=r_{r}v+r_t$$

Parameters

• rigids (tuple) – rigid.

• v (tuple) – vector $\overrightarrow{v}$ , length is 3. Data type is constant or Tensor with same shape.

Returns

tuple, changed vector, length is 3. 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 = (1, 2, 3)
>>> b1 = mindsponge.common.rigids_mul_vecs(a,b)
>>> print(b1)
(17, 36, 55)