1## Copyright (C) 2021 David Legland
2## All rights reserved.
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27
28function trans = composeTransforms3d(varargin)
29%COMPOSETRANSFORMS3D Concatenate several space transformations.
30%
31%   TRANS = composeTransforms3d(TRANS1, TRANS2, ...);
32%   Computes the affine transform equivalent to performing successively
33%   TRANS1, TRANS2, ...
34%
35%   Example:
36%   PTS  = rand(20, 3);
37%   ROT1 = createRotationOx(pi/3);
38%   ROT2 = createRotationOy(pi/4);
39%   ROT3 = createRotationOz(pi/5);
40%   ROTS = composeTransforms3d(ROT1, ROT2, ROT3);
41%   Then:
42%   PTS2 = transformPoint3d(PTS, ROTS);
43%   will give the same result as:
44%   PTS3 = transformPoint3d(transformPoint3d(transformPoint3d(PTS, ...
45%       ROT1), ROT2), ROT3);
46%
47%   See also:
48%   transforms3d, transformPoint3d
49%
50%   ---------
51%
52%   author : David Legland
53%   INRA - TPV URPOI - BIA IMASTE
54%   created the 29/29/2006.
55%
56
57trans = varargin{nargin};
58for i=length(varargin)-1:-1:1
59    trans = trans * varargin{i};
60end
61