RECENTERTRANSFORM3D Change the fixed point of an affine 3D transform.

   TRANSFO2 = recenterTransform3d(TRANSFO, CENTER)
   where TRANSFO is a 4x4 transformation matrix, and CENTER is a 1x3 row
   vector, computes the new transformations that uses the same linear part
   (defined by the upper-left 3x3 corner of the transformation matrix) as
   the initial transform, and that will leave the point CENTER unchanged.

   

   Example
   % creating a re-centered rotation using:   
   rot1 = createRotationOx(pi/3);
   rot2 = recenterTransform3d(rot1, [3 4 5]);
   % will give the same result as:
   rot3 = createRotationOx([3 4 5], pi/3);
   

   See also
   transforms3d, createRotationOx, createRotationOy, createRotationOz
   createTranslation3d

 ------
 Author: David Legland
 e-mail: david.legland@grignon.inra.fr
 Created: 2010-07-27,    using Matlab 7.9.0.529 (R2009b)
 Copyright 2010 INRA - Cepia Software Platform.

Package: matgeom