Translation Transformation
This block multiplies a homogeneous transformation matrix by a translation matrix. The block can be configured to have either a fixed or variable translation.
Library
MATLAB Command Line
Click to copy the following command line to the clipboard. Then paste it in the MATLAB Command Window:
qc_open_library('quarc_library/Math Operations/Homogeneous Transformations')Description
This block multiplies an input homogeneous transformation matrix by a translation matrix. The block can be configured to have either a fixed or variable translation by double clicking on the block and setting the appropriate parameters. The homogeneous translation matrix is as follows:
output = [1 0 0 x
0 1 0 y
0 0 1 z
0 0 0 1];
where x, y, and z are the translation relative to the current frame. The
input homogeneous transformation matrix is post-multiplied by this matrix.
Input Ports
4x4
This input takes the previous output from a homogeneous transformation block. If there are no prior transformation blocks then this input must be driven by a Identity Transformation block.
vec
If the block is configured to drive the translation externally, then this port will be visible. The input should be a 3 element vector defining the translation relative to the current frame.
Output Ports
4x4
Outputs a 4x4 tranformation matrix.
Parameters and Dialog Box
Source of translation vector
Selects between internal and external sources for the translation vector. If internal is selected, set the vector in the Translation field. If external is selected, you can connect a 3 element vector to the input port.
Translation
Sets the translation to the fixed value entered in this field if the Source of translation vector is set to use the internal input.
Targets
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Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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|
Yes |
Yes |
Last fully supported in QUARC 2018. |
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Rapid Simulation (RSIM) Target |
Yes |
Yes |
|
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S-Function Target |
No |
N/A |
Old technology. Use model referencing instead. |
|
Normal simulation |
Yes |
Yes |
See Also
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