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visual3d:documentation:pipeline:expressions:array_and_matrix_functions [2024/11/25 15:24] – [Rotation Matrices] wikisysopvisual3d:documentation:pipeline:expressions:array_and_matrix_functions [2025/05/16 13:01] (current) – Cleaned up page formatting and added links. wikisysop
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 ====== Array and Matrix Functions ====== ====== Array and Matrix Functions ======
  
-==== Arrays ====+These array and matrix functions can be used anywhere Visual3D allows [[visual3d:documentation:pipeline:expressions:expressions_overview|expressions]] to be used.
  
-=== Vector ===+===== Arrays =====
  
-**Vector**(a,b, etc)+Arrays can be thought of as a 1-dimensional ordered list of numerical values.
  
-creates a vector of the number of components specified+==== Vector ==== 
 + 
 +**Vector**(a,b, etc) - creates a vector of the number of components specified
  
-! Create a metric signal with 2 components and one frame 
 <code> <code>
 +! Create a metric signal with 2 components and one frame
 Metric_Explicit Metric_Explicit
 ! /RESULT_METRIC_FOLDER=PROCESSED ! /RESULT_METRIC_FOLDER=PROCESSED
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 /METRIC_VALUE=2+3 /METRIC_VALUE=2+3
 ; ;
-</code> 
  
 ! Create a vector containing a constant, a two dimensional metric and a 3 dimensional model based signal. ! Create a vector containing a constant, a two dimensional metric and a 3 dimensional model based signal.
-<code> 
 Evaluate_Expression Evaluate_Expression
 /EXPRESSION=vector (1, METRIC::PROCESSED::VEC2, LINK_MODEL_BASED::ORIGINAL::RKNEE_ANGLE) /EXPRESSION=vector (1, METRIC::PROCESSED::VEC2, LINK_MODEL_BASED::ORIGINAL::RKNEE_ANGLE)
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 The resulting signal will have the first three columns (one for the constant, one for the vector of 2 components) buffered to the number of frames of RKNEE_ANGLE by replicating the first frame. The resulting signal will have the first three columns (one for the constant, one for the vector of 2 components) buffered to the number of frames of RKNEE_ANGLE by replicating the first frame.
-=== List === 
  
-**list(a,b,etc)** -- creates a list (column vector) of the number of rows specified: +==== List ====
-=== Unit_Vector ===+
  
-**unit_vector (a, b, etc)** -- creates a unit vector of the number of components specified: +**list(a,b,etc)** - creates a list (column vector) of the number of rows specified.
-==== Rotation Matrices ====+
  
-=== Rotation Multiply ===+==== Unit_Vector ====
  
-**Rotation_Multiply**(a,b)+**unit_vector (a, b, etc)** - creates a unit vector of the number of components specified. 
 + 
 +===== Rotation Matrices ===== 
 + 
 +Rotation matrices are used throughout Visual3D because they can entirely contain the information regarding a segment's [[visual3d:documentation:kinematics_and_kinetics:pose_estimation|pose]]. 
 + 
 +==== Rotation Multiply ==== 
 + 
 +**Rotation_Multiply**(a,b) - Multiplies two rotation matrices
  
 Example: Multiply two ROTATION signals Example: Multiply two ROTATION signals
 <code> <code>
-Evaluate_Expression*+Evaluate_Expression
 /EXPRESSION=ROTATION_MULTIPLY(ROTATION_INVERSE(ROTATION::ORIGINAL::PELVIS_SHIFTED_4x4),CURRENT_SIGNAL) /EXPRESSION=ROTATION_MULTIPLY(ROTATION_INVERSE(ROTATION::ORIGINAL::PELVIS_SHIFTED_4x4),CURRENT_SIGNAL)
 /SIGNAL_TYPES=ROTATION /SIGNAL_TYPES=ROTATION
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 </code> </code>
  
-=== Rotation Inverse ===+==== Rotation Inverse ====
  
-**Rotation_Inverse**(a)+**Rotation_Inverse**(a) - Calculates the inverse of a rotation matrix
  
 Example: Inverse of a 4x4 ROTATION signal or a 3x3 LINK_MODEL_BASED ROTATION Example: Inverse of a 4x4 ROTATION signal or a 3x3 LINK_MODEL_BASED ROTATION
-A good description of the inverse of a ROTATION signals can be found [[[http://www.info.hiroshima-cu.ac.jp/~miyazaki/knowledge/teche0053.html|here]]] 
  
 <code> <code>
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 </code> </code>
  
-=== Rotation Transpose ===+**Note**: A good description of the inverse of a ROTATION signals can be found [[http://www.info.hiroshima-cu.ac.jp/~miyazaki/knowledge/teche0053.html|here]]
  
-**Rotation_Transpose**(a)+==== Rotation Transpose ==== 
 + 
 +**Rotation_Transpose**(a) - Creates the transposition of a rotation matrix.
  
 Example: Transpose of a 3x3 LINK_MODEL_BASED ROTATION signal Example: Transpose of a 3x3 LINK_MODEL_BASED ROTATION signal
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 </code> </code>
  
-=== Pose_4x4 ===+==== Pose_4x4 ====
  
-This was created for the Shadow segments introduced in 2024. +**Pose_4x4(a,0,0,0,123)** - Creates a 4x4 rotation signal based on signal "a" with the translation of the origin (0,0,0) and the orientation defined by Euler angles with the Euler sequence 123. 
-Create a 4x4 Rotation from the Visual3D pose of a segment, with the translation of the origin represented in any coordinate system, and the orientation defined by Euler angles and the Euler sequence.+ 
 +This function was created in support of the [[id=visual3d:documentation:modeling:segments:segment_overview#shadow_segments|shadow segments]] feature. 
 + 
 +Example: Create a rotation matrix for a shadow segment of the right heel 
 +<code>
 POSE_4X4(R_HEEL,0,0,0,123) POSE_4X4(R_HEEL,0,0,0,123)
 +</code>
  
 +===== See Also =====
  
 +Go back to see other [[visual3d:documentation:pipeline:expressions:expressions_overview#functions|Expression functions]].
visual3d/documentation/pipeline/expressions/array_and_matrix_functions.txt · Last modified: 2025/05/16 13:01 by wikisysop