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mindsponge.common.rots_mul_rots

mindsponge.common.rots_mul_rots(x, y)

Get result of rotation matrix x multiply rotation matrix y.

$$\begin{array}{r}\begin{array}{rl}& xx=xx1\ast xx2+xy1\ast yx2+xz1\ast zx2\\ & xy=xx1\ast xy2+xy1\ast yy2+xz1\ast zy2\\ & xz=xx1\ast xz2+xy1\ast yz2+xz1\ast zz2\\ & yx=yx1\ast xx2+yy1\ast yx2+yz1\ast zx2\\ & yy=yx1\ast xy2+yy1\ast yy2+yz1\ast zy2\\ & yz=yx1\ast xz2+yy1\ast yz2+yz1\ast zz2\\ & zx=zx1\ast xx2+zy1\ast yx2+zz1\ast zx2\\ & zy=zx1\ast xy2+zy1\ast yy2+zz1\ast zy2\\ & zz=zx1\ast xz2+zy1\ast yz2+zz1\ast zz2\end{array}\end{array}$$

Parameters

• x (tuple) – rots x, $(xx1,xy1,xz1,yx1,yy1,yz1,zx1,zy1,zz1)$.

• y (tuple) – rots y, $(xx2,xy2,xz2,yx2,yy2,yz2,zx2,zy2,zz2)$.

Returns

tuple, the result of rots x multiplying rots y. Shape is $(xx,xy,xz,yx,yy,yz,zx,zy,zz)$.

Supported Platforms:

Ascend GPU

Examples

>>> from mindsponge.common.geometry import rots_mul_rots
>>> rtos_0 = (1, 1, 1, 1, 1, 1, 1)
>>> rtos_1 = (1, 1, 1, 1, 1, 1, 1)
>>> result = rots_mul_rots(rots_0, rots_1)
>>> print(output)
(3, 3, 3, 3, 3, 3, 3, 3, 3)