====== Array and Matrix Functions ======

==== Arrays ====

=== Vector ===

**Vector**(a,b, etc)

creates a vector of the number of components specified

! Create a metric signal with 2 components and one frame
[Metric_Explicit]
! /RESULT_METRIC_FOLDER=PROCESSED
/RESULT_METRIC_NAME=VEC2
/METRIC_VALUE=2+3
**;**
! Create a vector containing a constant, a two dimensional metric and a 3 dimensional model based signal.
**Evaluate_Expression**
/EXPRESSION=vector (1, METRIC::PROCESSED::VEC2, LINK_MODEL_BASED::ORIGINAL::RKNEE_ANGLE)
! /SIGNAL_TYPES=
! /SIGNAL_FOLDER=ORIGINAL
! /SIGNAL_NAMES=
! /RESULT_TYPES=DERIVED
! /RESULT_FOLDERS=PROCESSED
/RESULT_NAME=TEST
! /APPLY_AS_SUFFIX_TO_SIGNAL_NAME=FALSE
**;**
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:
=== Unit_Vector ===

**unit_vector (a, b, etc)** -- creates a unit vector of the number of components specified:
==== Rotation Matrices ====

=== Rotation Multiply ===

**Rotation_Multiply**(a,b)

Example: Multiply two ROTATION signals
**Evaluate_Expression**
/EXPRESSION=ROTATION_MULTIPLY(ROTATION_INVERSE(ROTATION::ORIGINAL::PELVIS_SHIFTED_4x4),CURRENT_SIGNAL)
/SIGNAL_TYPES=ROTATION
! /SIGNAL_FOLDER=ORIGINAL
! /SIGNAL_NAMES=
/RESULT_TYPES=ROTATION
! /RESULT_FOLDERS=PROCESSED
/RESULT_NAME=**_MULT**
/APPLY_AS_SUFFIX_TO_SIGNAL_NAME=TRUE
**;**
=== Rotation Inverse ===

**Rotation_Inverse**(a)

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]]]
**Evaluate_Expression**
/EXPRESSION=ROTATION_INVERSE(ROTATION::ORIGINAL::PELVIS_SHIFTED_4x4)
/SIGNAL_TYPES=ROTATION
! /SIGNAL_FOLDER=ORIGINAL
! /SIGNAL_NAMES=
/RESULT_TYPES=ROTATION
! /RESULT_FOLDERS=PROCESSED
/RESULT_NAME=**_INV**
/APPLY_AS_SUFFIX_TO_SIGNAL_NAME=TRUE
**;**
\\


=== Rotation Transpose ===

**Rotation_Transpose**(a)

Example: Transpose of a 3x3 LINK_MODEL_BASED ROTATION signal
**Evaluate_Expression**
/EXPRESSION=ROTATION_TRANSPOSE(ROTATION::ORIGINAL::PELVIS_SHIFTED_4x4)
/SIGNAL_TYPES=ROTATION
! /SIGNAL_FOLDER=ORIGINAL
! /SIGNAL_NAMES=
/RESULT_TYPES=ROTATION
! /RESULT_FOLDERS=PROCESSED
/RESULT_NAME=**_T**
/APPLY_AS_SUFFIX_TO_SIGNAL_NAME=TRUE
**;**
=== Pose_Euler2Rotation4x4 ===

This was created for the Shadow segments introduced in 2024.
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.
POSE_EULER2ROTATION4X4(R_HEEL,0,0,0,123)