\input manualMacros.tex
\manBegin
\manPageInfo{RCCL Reference Manual}{}{}
\manTitle{multTrsfVect}{3}
\manSection{NAME}
{\rightskip=0ptplus1fil
{\tt \manName{multTrsfVect}},
{\tt \manName{multLiTrsfVect}}
-- RCCL routines to multiply a vector by a transform.
}
\manSection{USAGE}
\cverbatim
#include <robotTypes.h> /* included as part of <rccl.h> */

VECT *multTrsfVect (vr, t1, v1)
  VECT *vr, *v1;
  TRSF *t1;

VECT *multLiTrsfVect (vr, t1, v1)
  VECT *vr, *v1;
  TRSF *t1;
@endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt vr} --}
Result vector.
\manItem{{\tt t1} --}
Input transform.
\manItem{{\tt v1} --}
Input vector.
\manSection{DESCRIPTION}
These routines apply a $4\times4$ homogeneous transform to the RCCL
3-vector type {\tt VECT}.

{\tt multTrsfVect()} computes the product
\manIfTeX
$$
{\bf v}_r \;=\; {\bf T1} \; {\bf v}_1.
$$
\manElse
\cverbatim
                vr = T1 v1 .
@endcverbatim
\manFi

{\tt multLiTrsfVect()} computes the product
\manIfTeX
$$
{\bf v}_r \;=\; {\bf T1}^{-1} \; {\bf v}_1.
$$
\manElse
\cverbatim
                       -1
                vr = T1   v1 .
@endcverbatim
\manFi

\manSection{SEE ALSO}
\rightskip=0ptplus1fil
{\tt multTrsf(3)}, {\tt vect(3)}.
\manEnd
\end
