multiply_matrices

pycraf.geometry.multiply_matrices(*matrices)

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, that R3 is applied first.)

Returns:

Rarray

Resulting rotation matrix [no units!]

Notes

Broadcasting is supported, i.e., each element of matrices can be a stack of rotation matrices (that are of course not multiplied internally).