私のMatlab hgtransformマトリックスが無効なのはなぜですか？

Question

matlab hgtransformオブジェクトの'Matrix'プロパティを設定して変換行列を適用しようとしています。変換行列以下である：

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 

この特定のマトリックスが翻訳PI/6のZ軸周り

（0.5、0.5、0）

及び回転を表すことを意図しています。

私はこれを行うにしてみてください。

Error using matlab.graphics.primitive.Transform/set 
Invalid value for Matrix property 

理由：

% 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); 

が、私はエラーを取得しますか？

EDIT

変換マトリックスを生成したコード。次に行う

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 

：

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 ]; 

を今回転が実際に限り私が意図するものであることではなくに問題がある可能性がありまず、向き（回転）行列を構築し、次のクラスが必要です私はそれがまだ有効な変換行列であることがわかりますか？

Answer 1

答えは、MATLABは唯一の非負のスケーリングの条件を受け入れることだった、Transforms Supported by hgtransform