multTrsfVect(3)

NAME
multTrsfVect, multLiTrsfVect -- RCCL routines to multiply a vector by a transform.

USAGE
#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;

ARGUMENTS

vr --
    Result vector.

t1 --
    Input transform.

v1 --
    Input vector.

DESCRIPTION
These routines apply a 4X4 homogeneous transform to the RCCL 3-vector type VECT.

multTrsfVect() computes the product
                vr = T1 v1 .

multLiTrsfVect() computes the product
                       -1
                vr = T1   v1 .

SEE ALSO
multTrsf(3), vect(3).