transform.cpp
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35 
38 #include <hpp/fcl/math/transform.h>
39 
40 namespace hpp {
41 namespace fcl {
42 
44  Transform3f& tf) {
45  tf = tf1.inverseTimes(tf2);
46 }
47 
49  Transform3f& tf) {
50  Matrix3f R(tf2.getRotation() * tf1.getRotation().transpose());
51  tf = Transform3f(R, tf2.getTranslation() - R * tf1.getTranslation());
52 }
53 
54 } // namespace fcl
55 
56 } // namespace hpp
hpp::fcl::relativeTransform
void relativeTransform(const Eigen::MatrixBase< Derived > &R1, const Eigen::MatrixBase< OtherDerived > &t1, const Eigen::MatrixBase< Derived > &R2, const Eigen::MatrixBase< OtherDerived > &t2, const Eigen::MatrixBase< Derived > &R, const Eigen::MatrixBase< OtherDerived > &t)
Definition: tools.h:91
gjk.tf1
tuple tf1
Definition: test/scripts/gjk.py:27
R
R
hpp
Main namespace.
Definition: broadphase_bruteforce.h:44
gjk.tf2
tuple tf2
Definition: test/scripts/gjk.py:36
hpp::fcl::relativeTransform2
void relativeTransform2(const Transform3f &tf1, const Transform3f &tf2, Transform3f &tf)
Definition: transform.cpp:48
hpp::fcl::Matrix3f
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
hpp::fcl::Transform3f
Simple transform class used locally by InterpMotion.
Definition: transform.h:54
transform.h


hpp-fcl
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autogenerated on Fri Aug 2 2024 02:45:15