---
title: kutacc_af2_rigid_rot_vec_mul
description: "rigid_rot_vec_mul实现矩阵乘向量，输入为矩阵和向量，输出为向量。"
url: https://www.hikunpeng.com/document/detail/zh/kunpenghpcs/hpckit/devg/KunpengHPCKit_developer_142.html
sourcePath: /source/zh/kunpenghpcs/hpckit/devg/KunpengHPCKit_developer_142.html
indexId: 26c0d7ea63a85e808345a1a51da7db0fc8b99891f478ba6953358590978b515167
---
# kutacc_af2_rigid_rot_vec_mul

rigid_rot_vec_mul实现矩阵乘向量，输入为矩阵和向量，输出为向量。

#### 接口定义

void kutacc_af2_rigid_rot_vec_mul(kutacc_tensor_h pts, kutacc_tensor_h rot_mats, kutacc_tensor_h out, kutacc_tensor_h trans);


#### 参数

| 参数名 | 类型 | 描述 | 输入/输出 | tensor shape |
| --- | --- | --- | --- | --- |
| pts | kutacc\_tensor\_h | 输入数据 | 输入 | [..., 3] |
| rot\_mats | kutacc\_tensor\_h | 旋转矩阵 | 输入 | [..., 3, 3] |
| out | kutacc\_tensor\_h | 输出数据 | 输出 | [..., 3] |
| trans | kutacc\_tensor\_h | 平移向量 | 输入 | [..., 3] |


kutacc_af2_rigid_rot_vec_mul参数的约束关系： dim = pts.dim - 1; pts.strides[dim] = 1, rot_mats.strides[dim] = 3, rot_mats.strides[dim + 1] = 1 trans.strides[dim] = 1