transform.cpp

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#include "coal/math/transform.h"
 
namespace coal {
 
void relativeTransform(const Transform3s& tf1, const Transform3s& tf2,
                       Transform3s& tf) {
  tf = tf1.inverseTimes(tf2);
}
 
void relativeTransform2(const Transform3s& tf1, const Transform3s& tf2,
                        Transform3s& tf) {
  Matrix3s R(tf2.getRotation() * tf1.getRotation().transpose());
  tf = Transform3s(R, tf2.getTranslation() - R * tf1.getTranslation());
}
 
}  // namespace coal