.. _auto_curves_rotatebycosinematrix:

*TRANSFORM THE CURVES USING A TRANSFORMATION MATRIX*
====================================================

Applies a direction-cosine (rotation) transformation matrix to a set of up to three orthogonal component curves (X, Y, Z), projecting them into a new coordinate frame. Use this worker whenever signal channels recorded in a local or sensor frame must be expressed in a global or vehicle frame.

When to use
-----------

Classification: **process**.

Tagged: ``coordinate_transform``, ``cosine_matrix``, ``curve_rotation``, ``direction_cosine``, ``frame_transform``, ``rotation``, ``transformation_matrix``.

Inputs
------

.. list-table::
   :header-rows: 1
   :widths: 20 20 20 20 20 20

   * - Label
     - ID
     - Type
     - Default
     - Required
     - Description
   * - Curve X
     - curve_x
     - vector
     - —
     - 
     - X-component curve (vector) to be rotated; typically a time-history signal in the original coordinate frame — optional if only a subset of axes is needed.
   * - Curve Y
     - curve_y
     - vector
     - —
     - 
     - Y-component curve (vector) to be rotated; paired with curve_x and curve_z to form the full 3-axis signal set — optional if only a subset of axes is needed.
   * - Curve Z
     - curve_z
     - vector
     - —
     - 
     - Z-component curve (vector) to be rotated; paired with curve_x and curve_y to form the full 3-axis signal set — optional if only a subset of axes is needed.
   * - Transformation Matrix
     - transformationmatrix
     - matrix
     - —
     - 
     - 3×3 direction-cosine (rotation) matrix that defines the target coordinate frame; each row/column must be a unit vector and the matrix must be orthogonal — supply as a numeric matrix object.

Outputs
-------

.. list-table::
   :header-rows: 1
   :widths: 20 20 20 20

   * - Label
     - ID
     - Type
     - Description
   * - curves_rotatebycosinematrix_output_1
     - curves_rotatebycosinematrix_output_1
     - vector
     - Rotated output curve (vector) representing the transformed signal after applying the cosine matrix to the input X/Y/Z component curves.

Disciplines
-----------

- data.curve.transform
- data.units

Runnable example
----------------

A runnable example is registered for this worker. Open the example workflow on the d3VIEW canvas: `/api/workflow/example?id=curves_rotatebycosinematrix <https://www.d3view.com/api/workflow/example?id=curves_rotatebycosinematrix>`_

.. raw:: html

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   Auto-generated from <code>transformation</code> schema. Worker id: <code>curves_rotatebycosinematrix</code>. Schema hash: <code>46687929cf25</code>. Hand-curated docs in <code>workerexamples/</code> override this page when present.
   </p>