transform.cpp

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#include <hpp/fcl/math/transform.h>

namespace hpp {
namespace fcl {

void relativeTransform(const Transform3f& tf1, const Transform3f& tf2,
                       Transform3f& tf) {
  tf = tf1.inverseTimes(tf2);
}

void relativeTransform2(const Transform3f& tf1, const Transform3f& tf2,
                        Transform3f& tf) {
  Matrix3f R(tf2.getRotation() * tf1.getRotation().transpose());
  tf = Transform3f(R, tf2.getTranslation() - R * tf1.getTranslation());
}

}  // namespace fcl

}  // namespace hpp