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RMF
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Transform coordinates into the global reference frame. More...
#include <RMF/CoordinateTransformer.h>
Public Member Functions | |
| CoordinateTransformer () | |
| CoordinateTransformer (CoordinateTransformer base, decorator::ReferenceFrameConst rb) | |
| Vector3 | get_global_coordinates (const Vector3 &internal) const |
| const Vector4 & | get_rotation () const |
| const Vector3 & | get_translation () const |
Transform coordinates into the global reference frame from a nested one.
Definition at line 30 of file CoordinateTransformer.h.
| RMF::CoordinateTransformer::CoordinateTransformer | ( | ) |
Create one with the default reference frame, so the points aren't transformed at all.
Definition at line 36 of file CoordinateTransformer.h.
| RMF::CoordinateTransformer::CoordinateTransformer | ( | CoordinateTransformer | base, |
| decorator::ReferenceFrameConst | rb | ||
| ) |
Compose an outer CoordinateTransformer with the nested ReferenceFrame.
Return the global coordinates for a given set of internal coordinates.
Definition at line 43 of file CoordinateTransformer.h.
| const Vector4& RMF::CoordinateTransformer::get_rotation | ( | ) | const |
Return the rotational component of the transformation as a quaternion.
Definition at line 52 of file CoordinateTransformer.h.
| const Vector3& RMF::CoordinateTransformer::get_translation | ( | ) | const |
Return the translational component of the transformation.
Definition at line 48 of file CoordinateTransformer.h.