multiply_matrices¶
- pycraf.geometry.multiply_matrices(*matrices)[source] [edit on github]¶
Matrix-multiply the matrices in the given list.
- Parameters
- matriceslist of
array
List of (stacks of) rotation matrices. The order of the multiplication is
R = R1.R2.R3
, if*matrices = (R1, R2, R3)
. (This means, thatR3
is applied first.)
- matriceslist of
- Returns
- R
array
Resulting rotation matrix [no units!]
- R
Notes
Broadcasting is supported, i.e., each element of
matrices
can be a stack of rotation matrices (that are of course not multiplied internally).