【发布时间】：2017-02-17 12:51:04
【问题描述】：
我正在尝试通过设置 matlab hgtransform 对象的 'Matrix' 属性来应用变换矩阵。变换矩阵如下：
866.0254e-003 500.0000e-003 0.0000e+000 500.0000e-003
500.0000e-003 -866.0254e-003 0.0000e+000 500.0000e-003
0.0000e+000 0.0000e+000 1.0000e+000 0.0000e+000
0.0000e+000 0.0000e+000 0.0000e+000 1.0000e+000
这个特定的矩阵旨在表示翻译
(0.5, 0.5, 0)
围绕 pi/6 的 Z 轴旋转。
当我尝试这样做时：
% make a unit box
sx = 1;
sy = 1;
sz = 1;
shapeData.Vertices = [ -sx/2, -sy/2, -sz/2;
sx/2, -sy/2, -sz/2;
sx/2, sy/2, -sz/2;
-sx/2, sy/2, -sz/2;
-sx/2, -sy/2, sz/2;
sx/2, -sy/2, sz/2;
sx/2, sy/2, sz/2;
-sx/2, sy/2, sz/2; ];
shapeData.Faces = [ 1, 4, 3, 2;
1, 5, 6, 2;
2, 6, 7, 3;
7, 8, 4, 3;
8, 5, 1, 4;
8, 7, 6, 5 ];
figure;
axes;
transformObject = hgtransform (gca);
patchObject = patch (gca, ...
'Faces', shapeData.Faces, ...
'Vertices', shapeData.Vertices, ...
'FaceColor', 'red', ...
'FaceAlpha', 1.0, ...
'EdgeColor', 'none', ...
'FaceLighting', 'gouraud', ...
'AmbientStrength', 0.15, ...
'Parent', transformObject);
M = [ ...
866.0254e-003 500.0000e-003 0.0000e+000 500.0000e-003; ...
500.0000e-003 -866.0254e-003 0.0000e+000 500.0000e-003; ...
0.0000e+000 0.0000e+000 1.0000e+000 0.0000e+000; ...
0.0000e+000 0.0000e+000 0.0000e+000 1.0000e+000; ...
];
set ( transformObject, 'Matrix', M );
我得到错误：
Error using matlab.graphics.primitive.Transform/set
Invalid value for Matrix property
为什么？
编辑
生成变换矩阵的代码。首先，您需要以下构造方向（旋转）矩阵的类：
classdef orientmat
properties (GetAccess = public, SetAccess = protected)
orientationMatrix;
end
methods
function this = orientmat (spectype, spec)
% orentmat constructor
%
% Syntax
%
% om = orientmat (spectype, spec)
%
% Input
%
%
switch spectype
case 'orientation'
this.orientationMatrix = spec;
case 'euler'
this.orientationMatrix = SpinCalc('EA123toDCM', rad2deg (spec), eps (), 1);
case 'euler123'
this.orientationMatrix = SpinCalc('EA123toDCM', rad2deg (spec), eps (), 1);
case 'euler321'
this.orientationMatrix = SpinCalc('EA321toDCM', rad2deg (spec), eps (), 1);
case 'vector'
% axis and angle (angle in rad = norm of matrix)
wcrs = [ 0 spec(3) -spec(2)
-spec(3) 0 spec(1)
spec(2) -spec(1) 0] ;
this.orientationMatrix = expm (wcrs);
case '2vectors'
% normalise the fisr vector
spec.vec1 = this.unit (spec.vec1);
spec.vec2 = this.unit (spec.vec2);
spec.vec3 = cross (spec.vec1, spec.vec2);
spec.vec2 = this.unit (cross (this.unit (spec.vec3), spec.vec1));
switch spec.vec1axis
case 1
X = spec.vec1;
if spec.vec2axis == 2
Y = spec.vec2;
Z = spec.vec3;
elseif spec.vec2axis == 3
Y = spec.vec3;
Z = spec.vec2;
end
case 2
Y = spec.vec1;
if spec.vec2axis == 1
X = spec.vec2;
Z = spec.vec3;
elseif spec.vec2axis == 3
X = spec.vec3;
Z = spec.vec2;
end
case 3
Z = spec.vec1;
if spec.vec2axis == 2
X = spec.vec2;
Y = spec.vec3;
elseif spec.vec2axis == 3
X = spec.vec3;
Y = spec.vec2;
end
end
this.orientationMatrix = [ X, Y, Z ];
end
end
end
% operator overloading
methods
function om = plus (om1, om2)
om = mbdyn.pre.orientmat ('orientation', om1.orientationMatrix + om2.orientationMatrix);
end
function om = minus (om1, om2)
om = mbdyn.pre.orientmat ('orientation', om1.orientationMatrix - om2.orientationMatrix);
end
function om = times (om1, om2)
om = mbdyn.pre.orientmat ('orientation', om1.orientationMatrix .* om2.orientationMatrix);
end
function om = mtimes (om1, om2)
om = mbdyn.pre.orientmat ('orientation', om1.orientationMatrix * om2.orientationMatrix);
end
function om = double (om1)
om = om1.orientationMatrix;
end
function om = uminus (om1)
om = mbdyn.pre.orientmat ('orientation', -om1.orientationMatrix);
end
function om = uplus (om1)
om = mbdyn.pre.orientmat ('orientation', +om1.orientationMatrix);
end
function om = transpose (om1)
om = mbdyn.pre.orientmat ('orientation', om1.orientationMatrix.');
end
function om = ctranspose (om1)
om = mbdyn.pre.orientmat ('orientation', om1.orientationMatrix');
end
end
methods (Access = private)
function out = unit (self, vec)
out = vec ./ norm (vec);
end
end
end
然后做：
om = orientmat ('2vectors', struct ('vec1axis', 1, 'vec1', [cos(pi/6);sin(pi/6);0], 'vec2axis', 3, 'vec2', [0;0;1]));
M = [ om.orientationMatrix, [0.5; 0.5; 0]; 0, 0, 0, 1 ];
现在可能存在一个问题，旋转实际上不是我想要的，但据我所知，它仍然是一个有效的变换矩阵？
【问题讨论】：
-
能否提供MATLAB版本？此代码在 2014B 上失败
-
你有生成变换矩阵的代码吗？
-
@AnderBiguri，它是 R2016b，不确定最早的版本是什么。
-
@Suever 我添加了一些代码
标签： matlab matlab-figure homogenous-transformation